ubuntu -- mujoco

Ubuntu 命令

1. 配置安装软件工具apt

sudo apt-get update

2. 配置系统时间跟windows同步

sudo apt install ntpdate

sudo nptdate time.windows.com

sudo hwclock --localtime --systohc

3. 安装git

sudo apt install git

git –version

4. 安装vim

sudo apt install vim

5. 安装python3和pip3

sudo apt install python3

sudo apt install python3-pip

6. 安装mujoco

[1]下载mujoco

wget https://www.roboti.us/download/mujoco200_linux.zip

[2]将下载后的压缩文件mujoco200_linux.zip解压，文件名修改为mujoco200,放置在~/.mujoco下，最终目录为~/.mujoco/mujoco200

unzip mujoco200_linux.zip

mkdir ~/.mujoco

mv mujoco200_linux ~/.mujoco/mujoco200

[3]获取mjkey.txt，将它放在~/.mujoco/内

[4]安装mujoco-py依赖环境，添加环境变量

vim ~/.bashrc

在文件末尾添加下面这行（保存退出 :wq）

export LD_LIBRARY_PATH=$HOME/.mujoco/mujoco200/bin

使修改生效

source ~/.bashrc

检查成功与否--能看到一个机器人模型

cd ~/.mujoco/mujoco200/bin

./simulate ../model/humanoid.xml

进度：

参考Ubuntu 16.04 安装 mujoco, mujoco_py 和 gym - 知乎

mujoco已经从github clone到本地，但是进一步的安装配置还没开始弄

[5]安装mujoco-py

pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple -U 'mujoco-py<2.1,>=2.0'

检查安装结果

python3

import mujoco_py

import os

mj_path, _ = mujoco_py.utils.discover_mujoco()

xml_path = os.path.join(mj_path, 'model', 'humanoid.xml')

model = mujoco_py.load_model_from_path(xml_path)

sim = mujoco_py.MjSim(model)

print(sim.data.qpos)

# [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.]

sim.step()

print(sim.data.qpos)

# [-2.09531783e-19 2.72130735e-05 6.14480786e-22 -3.45474715e-06

# 7.42993721e-06 -1.40711141e-04 -3.04253586e-04 -2.07559344e-04

# 8.50646247e-05 -3.45474715e-06 7.42993721e-06 -1.40711141e-04

# -3.04253586e-04 -2.07559344e-04 -8.50646247e-05 1.11317030e-04

# -7.03465386e-05 -2.22862221e-05 -1.11317030e-04 7.03465386e-05

# -2.22862221e-05]