使用mujoco-py包为MuJoCo物理库绑定Python

Question

我想使用MuJoCo (http://www.mujoco.org/)，这是一个使用python绑定的高级物理模拟器(https://github.com/openai/mujoco-py)。

我已经获得了MuJoCo许可文件mjkey.text，并相应地将所需的路径MUJOCO_PY_MJKEY_PATH和MUJOCO_PY_MJPRO_PATH添加到环境变量中。

MUJOCO_PY_MJPRO_PATH = C:\Dropbox\PhD\MuJoCo\mjpro131
MUJOCO_PY_MJKEY_PATH = C:\Dropbox\PhD\MuJoCo\mjpro131\bin

但是，只要我想用下面的简单代码导入libray，

import mujoco_py

我收到了以下错误消息。

C:\Dropbox\Python\Anaconda\python.exe
C:/Dropbox/PhD/Python/X/MujocoHelloWorld/test.py
Traceback (most recent call last):
  File "C:/Dropbox/PhD/Python/X/MujocoHelloWorld/test.py", line 1, in <module>
    import mujoco_py
  File "<frozen importlib._bootstrap>", line 969, in _find_and_load
  File "<frozen importlib._bootstrap>", line 958, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 664, in _load_unlocked
  File "<frozen importlib._bootstrap>", line 634, in _load_backward_compatible
  File "C:\Dropbox\Python\Anaconda\lib\site-packages\mujoco_py-0.5.4-py3.5.egg\mujoco_py\__init__.py", line 4, in <module>
  File "<frozen importlib._bootstrap>", line 969, in _find_and_load
  File "<frozen importlib._bootstrap>", line 958, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 664, in _load_unlocked
  File "<frozen importlib._bootstrap>", line 634, in _load_backward_compatible
  File "C:\Dropbox\Python\Anaconda\lib\site-packages\mujoco_py-0.5.4-py3.5.egg\mujoco_py\mjviewer.py", line 7, in <module>
  File "<frozen importlib._bootstrap>", line 969, in _find_and_load
  File "<frozen importlib._bootstrap>", line 958, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 664, in _load_unlocked
  File "<frozen importlib._bootstrap>", line 634, in _load_backward_compatible
  File "C:\Dropbox\Python\Anaconda\lib\site-packages\mujoco_py-0.5.4-py3.5.egg\mujoco_py\mjcore.py", line 6, in <module>
  File "<frozen importlib._bootstrap>", line 969, in _find_and_load
  File "<frozen importlib._bootstrap>", line 958, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 664, in _load_unlocked
  File "<frozen importlib._bootstrap>", line 634, in _load_backward_compatible
  File "C:\Dropbox\Python\Anaconda\lib\site-packages\mujoco_py-0.5.4-py3.5.egg\mujoco_py\mjlib.py", line 21, in <module>
  File "C:\Dropbox\Python\Anaconda\lib\ctypes\__init__.py", line 425, in LoadLibrary
    return self._dlltype(name)
  File "C:\Dropbox\Python\Anaconda\lib\ctypes\__init__.py", line 347, in __init__
    self._handle = _dlopen(self._name, mode)
OSError: [WinError 193] %1 is not a valid Win32 application

Process finished with exit code 1

我在Windows764位和MuJoCo 1.3164位上使用Python3.5.1 64位。

我猜这个问题是由于某种不兼容，我也尝试了Python3.5.2 32位和MuJoCo 1.31 32位。我甚至尝试了非逻辑的32位Python和64位MuJoCo的组合，反之亦然。

MuJoCo库中已经编译的给定示例"simulate.exe“可以很好地工作。所以，我想我的64位MuJoCo库是没有问题的。(顺便说一下，它的32位版本不能在64位Windows上运行)

因此，在将C++库加载到Python时，可能会出现问题。我调试并至少检查了mujoco_py库中的Python代码尝试从正确的路径加载"mujoco131.lib“(而不是"mujoco131.dll”)。然后错误发生，代码无法进一步运行。

我对任何评论和建议都持开放态度。

干杯!祝你有愉快的一天！

Answer 1

尝试编辑mjlib.py，在加载器中用"bin/mujoco131.dll"替换"bin/mujoco131.lib"。

我还必须在platname_targdir.py中显式地指定platname = "win"