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本文根据一篇知乎文章链接在此进行配置#xff0c;记录在配置过程中遇到的一些问题#xff0c;原文作者的教程很详细#xff0c;在此对原作者表示感谢#xff5e;
直接进行知乎原文的第2.2 有效安装过程(避坑)
2.注意上…Ubuntu中mujoco210 mujoco_py D4RL安装及错误解决
本文根据一篇知乎文章链接在此进行配置记录在配置过程中遇到的一些问题原文作者的教程很详细在此对原作者表示感谢
直接进行知乎原文的第2.2 有效安装过程(避坑)
2.注意上文中各行代码的作用 原文作者的代码有一点点小问题我在注释中指出要注意甄别
**注意/.mujoco是隐藏文件夹在界面中可以打开显示隐藏文件的开关**
# 下载地址 https://github.com/deepmind/mujoco/releases/tag/2.1.0
cd ~/Downloads/
wget https://github.com/deepmind/mujoco/releases/download/2.1.0/mujoco210-linux-x86_64.tar.gz
mv mujoco210-linux-x86_64.tar.gz mujoco210 #这里相当于重命名
tar -zxvf mujoco210-linux-x86_64.tar.gz #这里有问题 应解压重命名后的文件
mkdir ~/mujoco #这里应改为 mkdir ~/.mujoco
cp -r mujoco210 ~/.mujoco #复制到~/.mujoco中
# 添加环境变量
sudo gedit ~/.bashrc
export LD_LIBRARY_PATH$LD_LIBRARY_PATH:$HOME/.mujoco/mujoco210/bin
export MUJOCO_KEY_PATH~/.mujoco${MUJOCO_KEY_PATH}
source ~/.bashrc# 测试
cd ~/.mujoco/mujoco210/bin/
./simulate ../model/humanoid.xml其余按照原作者的内容进行安装 3.在安装mujoco_py时我首先遇到作者未出现的报错
anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx:127:21: Cannot assign type void (const char *) except * nogil to void (*)(const char *) noexcept nogil. Exception values are incompatible. Suggest adding noexcept to type void (const char *) except * nogil.
Traceback (most recent call last):File stdin, line 1, in moduleFile /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/__init__.py, line 2, in modulefrom mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoExceptionFile /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 504, in modulecymj load_cython_ext(mujoco_path)File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 110, in load_cython_extcext_so_path builder.build()File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 226, in buildbuilt_so_file_path self._build_impl()File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 296, in _build_implso_file_path super()._build_impl()File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 239, in _build_impldist.ext_modules cythonize([self.extension])File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/Cython/Build/Dependencies.py, line 1154, in cythonizecythonize_one(*args)File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/Cython/Build/Dependencies.py, line 1321, in cythonize_oneraise CompileError(None, pyx_file)
Cython.Compiler.Errors.CompileError: /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyximport mujoco_py
Compiling /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx because it changed.
[1/1] Cythonizing /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx
performance hint: anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx:67:5: Exception check on c_warning_callback will always require the GIL to be acquired.
Possible solutions:1. Declare the function as noexcept if you control the definition and youre sure you dont want the function to raise exceptions.2. Use an int return type on the function to allow an error code to be returned.
performance hint: anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx:104:5: Exception check on c_error_callback will always require the GIL to be acquired.
Possible solutions:1. Declare the function as noexcept if you control the definition and youre sure you dont want the function to raise exceptions.2. Use an int return type on the function to allow an error code to be returned.Error compiling Cython file:
------------------------------------------------------------
...See c_warning_callback, which is the C wrapper to the user defined functionglobal py_warning_callbackglobal mju_user_warningpy_warning_callback warnmju_user_warning c_warning_callback^
------------------------------------------------------------anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx:92:23: Cannot assign type void (const char *) except * nogil to void (*)(const char *) noexcept nogil. Exception values are incompatible. Suggest adding noexcept to type void (const char *) except * nogil.Error compiling Cython file:
------------------------------------------------------------
...See c_warning_callback, which is the C wrapper to the user defined functionglobal py_error_callbackglobal mju_user_errorpy_error_callback err_callbackmju_user_error c_error_callback^
------------------------------------------------------------anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx:127:21: Cannot assign type void (const char *) except * nogil to void (*)(const char *) noexcept nogil. Exception values are incompatible. Suggest adding noexcept to type void (const char *) except * nogil.
Traceback (most recent call last):File stdin, line 1, in moduleFile /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/__init__.py, line 2, in modulefrom mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoExceptionFile /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 504, in modulecymj load_cython_ext(mujoco_path)File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 110, in load_cython_extcext_so_path builder.build()File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 226, in buildbuilt_so_file_path self._build_impl()File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 296, in _build_implso_file_path super()._build_impl()File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/builder.py, line 239, in _build_impldist.ext_modules cythonize([self.extension])File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/Cython/Build/Dependencies.py, line 1154, in cythonizecythonize_one(*args)File /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/Cython/Build/Dependencies.py, line 1321, in cythonize_oneraise CompileError(None, pyx_file)
Cython.Compiler.Errors.CompileError: /home/yangsen/anaconda3/envs/myRL/lib/python3.9/site-packages/mujoco_py/cymj.pyx
解决方法更换Cython版本 参考文章
pip install Cython3.0.0a10更换版本后继续 import mojoco_py出现知乎文章中提及的问题按照原文作者的方法可以解决
4.祝安装成功
