Linux(Ubuntu)安装Mujoco、mujoco-py的详细步骤、安装教程

参考链接：https://blog.csdn.net/Youtian_/article/details/103841453，【Linux】Ubun16.04服务器配置Mujoco的各种错误解决方案

官方链接：openai/mujoco-py: MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3. (github.com)

下载链接：Releases · deepmind/mujoco (github.com)

 

mujoco-py  

MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.

This library has been updated to be compatible with MuJoCo version 2.1 released on 2021-10-18.

Synopsis

Requirements

The following platforms are currently supported:

• Linux with Python 3.6+. See the Dockerfile for the canonical list of system dependencies.
• OS X with Python 3.6+.

The following platforms are DEPRECATED and unsupported:

• Windows support has been DEPRECATED and removed in 2.0.2.0. One known good past version is 1.50.1.68.
• Python 2 has been DEPRECATED and removed in 1.50.1.0. Python 2 users can stay on the 0.5 branch. The latest release there is 0.5.7 which can be installed with pip install mujoco-py==0.5.7.

Install MuJoCo

1. Download the MuJoCo version 2.1 binaries for Linux or OSX.
2. Extract the downloaded mujoco210 directory into ~/.mujoco/mujoco210.

mkdir ~/.mujoco
cp mujoco210-linux-x86_64.tar.gz ~/.mujoco
cd ~/.mujoco
tar -xzvf mujoco210-linux-x86_64.tar.gz

If you want to specify a nonstandard location for the package, use the env variable MUJOCO_PY_MUJOCO_PATH.

Finally, add path to your environment variable.

• Please add following line to .bashrc: export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.mujoco/mujoco210/bin (输入MuJoCo对应的路径)

PS：有时候绝对路径比~更加不容易出错

Install and use mujoco-py

To include mujoco-py in your own package, add it to your requirements like so:

mujoco-py<2.2,>=2.1

To play with mujoco-py interactively, follow these steps:

$ pip3 install -U 'mujoco-py<2.2,>=2.1'
$ 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]

Ubuntu installtion troubleshooting

Because mujoco_py has compiled native code that needs to be linked to a supplied MuJoCo binary, it's installation on linux can be more challenging than pure Python source packages.

To install mujoco-py on Ubuntu, make sure you have the following libraries installed:

sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
or # 上面三个库的依赖不存在，或者已经存在版本更高的依赖而导致安装无法继续

sudo aptitude install libosmesa6-dev libgl1-mesa-glx libglfw3

If you installed above libraries and you still see an error that -lGL cannot be found, most likely you need to create the symbolic link directly:

sudo aptitude install libgl1-mesa-dev
sudo ln -s /usr/lib/x86_64-linux-gnu/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so