ubuntu18.04安装Mujoco

前言

在ubuntu18.04安装Mujoco时参考了csdn上两个浏览量较多的教程，在import Mujoco_py时总是报错，多次解决无效，在Open AI Mujoco issue区看到了别人说按这个流程走不会报很多错

#Step 1: Install anaconda

https://repo.anaconda.com/archive/Anaconda3-2021.11-Linux-x86_64.sh
sudo chmod +x Anaconda3-2021.11-Linux-x86_64.sh
./Anaconda3-2021.11-Linux-x86_64.sh

Step 2 : install git

sudo apt install git

Step 3 : install the mujoco library

1. Download the Mujoco library from
   https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz

2. create a hidden folder :
   mkdir /home/username/.mujoco

3. extract the library to the .mujoco folder

4. include these lines in .bashrc file:
   export LD_LIBRARY_PATH=/home/user_name/.mujoco/mujoco210/bin
   export LD_LIBRARY_PATH=$L{D}_{L}IBRAR{Y}_{P}ATH:/usr/lib/nvidiaexportPATH="$LD_LIBRARY_PATH:$PATH"
   export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so

5. source .bashrc

6. Test that the library is installed by going into:
   cd ~/.mujoco/mujoco210/bin
   ./simulate …/model/humanoid.xml

Step 4 Install mujoco-py:
conda create --name mujoco_py python=3.8
conda activate mujoco_py
sudo apt update
sudo apt-get install patchelf
sudo apt-get install python3-dev build-essential libssl-dev libffi-dev libxml2-dev
sudo apt-get install libxslt1-dev zlib1g-dev libglew1.5 libglew-dev python3-pip

git clone https://github.com/openai/mujoco-py
cd mujoco-py
pip install -r requirements.txt
pip install -r requirements.dev.txt

pip install -e . --no-cache

Step 5 reboot your machine

Step 6 run these commands
conda activate mujoco_py
sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
sudo ln -s /usr/lib/x86_64-linux-gnu/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so
cd
cd examples
python3 setting_state.py
尝试过后，还是出现了Cpython的问题，之前走别的教程也有这个问题，但走了这个教程后用
pip uninstall cython
pip install cython==0.29.21
这两条指令完美解决了（别的教程跑完加这两个指令就没用，不懂