mujoco强化学习报错 ‘mujoco._structs.MjData‘ object has no attribute ‘solver_iter‘

MjData has no attribute solver_iter

在用 Mujoco 和 Gymnasium 做强化学习时报错 ‘mujoco._structs.MjData’ object has no attribute ‘solver_iter’，下面是github上大神的解释：

When using version 3.0.0 of MuJoCo and working with Gymnasium I’m getting the following error while trying to render any MuJoCo environment in “human” mode

‘mujoco._structs.MjData’ object has no attribute ‘solver_iter’

Downgrading to version 2.3.7 fixes the issue.

I’m guessing the error is related to this line in the change log

Renamed mjData.solver_iter to solver_niter. Both this member and mjData.solver_nnz are now integer vectors of length mjNISLAND。

所以把mujoco_rendering.py文件第593行代码中的 self.data.solver_iter 更改为 self.data.solver_niter 即可。