强化学习mujoco gym stable_baseline3 安装教程

1 安装mujoco

下载mujoco：https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz

• 1. 将下载的文件解压至/opt/mujoco中
• 2. 添加环境变量：
     执行 gedit /etc/profile ，打开profile文件，将下面两句话复制到 /etc/profile文件尾部

     export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/mujoco/mujoco210/bin
     export MUJOCO_PY_MUJOCO_PATH=/opt/mujoco/mujoco210/
     

• 3. 更新配置：执行source /etc/profile
• 4. 测试：

     cd /opt/mujoco/mujoco210/bin
     ./simulate ../model/humanoid.xml
     

若出现下面画面，则mujoco安装成功

2 安装mujoco_py

• 1. 下载mujoco-py：

     	cd  /opt
     	git clone https://github.com/openai/mujoco-py.git
     

• 2. 依次执行下面的指令进行安装

     	cd /opt/mujoco-py
     	pip3 install -U 'mujoco-py<2.2,>=2.1'
     	pip3 install -r requirements.txt
     	pip3 install -r requirements.dev.txt
     	python3 setup.py install
     

• 3. 配置环境文件

     	gedit /etc/profile
     

     在最后添加下面代码然后保存退出文档

     	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia 
     

     更新配置：

     	source  /etc/profile
     

• 4. 测试
     依次执行：

      	cd /opt/mujoco-py/examples
      	python3 body_interaction.py
     

     若出现下图的界面，则mujoco安装成功
     
• 5. 可能遇到的问题

  • 问题1： Cython.Compiler.Errors.CompileError: /usr/local/lib/python3.10/dist-packages/mujoco_py/cymj.pyx
    
    解决方法：安装cpyhhon

    pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple   Cython==3.0.0a10
    

  • 问题2： 缺少GL/osmesa.h文件
    
    解决方案：安装osmesa6

    sudo apt install libosmesa6-dev
    

• 问题3：FileNotFoundError: [Errno 2] No such file or directory: ‘patchelf’
  
  解决方案：

  apt-get install patchelf
  

3 安装gym

• 1. 安装gym：

git clone https://github.com/openai/gym

运行代码来添加环境
接下来安装gym的所有环境，运行以下代码

cd gym
pip install -e .[all]  -i https://pypi.tuna.tsinghua.edu.cn/simple

如果超时，换用下面的命令
如果出现错误：

Building wheels for collected packages: box2d-py, gym
  Building wheel for box2d-py (setup.py) ... error
  error: subprocess-exited-with-error
  
  × python setup.py bdist_wheel did not run successfully.
  │ exit code: 1
  ╰─> [16 lines of output]
      Using setuptools (version 68.0.0).
      running bdist_wheel
      running build
      running build_py
      creating build
      creating build/lib.linux-x86_64-cpython-38
      creating build/lib.linux-x86_64-cpython-38/Box2D
      copying library/Box2D/Box2D.py -> build/lib.linux-x86_64-cpython-38/Box2D
      copying library/Box2D/__init__.py -> build/lib.linux-x86_64-cpython-38/Box2D
      creating build/lib.linux-x86_64-cpython-38/Box2D/b2
      copying library/Box2D/b2/__init__.py -> build/lib.linux-x86_64-cpython-38/Box2D/b2
      running build_ext
      building 'Box2D._Box2D' extension
      swigging Box2D/Box2D.i to Box2D/Box2D_wrap.cpp
      swig -python -c++ -IBox2D -small -O -includeall -ignoremissing -w201 -globals b2Globals -outdir library/Box2D -keyword -w511 -D_SWIG_KWARGS -o Box2D/Box2D_wrap.cpp Box2D/Box2D.i
      error: command 'swig' failed: No such file or directory
      [end of output]
  
  note: This error originates from a subprocess, and is likely not a problem with pip.
  ERROR: Failed building wheel for box2d-py
  Running setup.py clean for box2d-py
  Building editable for gym (pyproject.toml) ... done
  Created wheel for gym: filename=gym-0.26.2-0.editable-py3-none-any.whl size=4276 sha256=d500f2aace1313b1e6edeef6688a35cd77a0fe742c6e746285ae58b582fc207b
  Stored in directory: /tmp/pip-ephem-wheel-cache-1rf846yu/wheels/ee/8a/f5/ed98d4005e8172d461a18b6aa8147e52bb0a5dad276b12a2c2
Successfully built gym
Failed to build box2d-py
ERROR: Could not build wheels for box2d-py, which is required to install pyproject.toml-based projects

解决方法：

sudo apt-get install swig build-essential python3-dev

再次安装

pip install -e .[all]

若无报错，则gym安装完成