使用mujoco-py包的MuJoCo物理库的Python绑定

Question

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

我已经获得了我的MuJoCo许可文件mjkey.text,并相应地将所需的路径MUJOCO_PY_MJKEY_PATH,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,我想用以下简单代码导入libray,

import mujoco_py

我收到以下错误消息.

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Windows 7 64位上使用64位的Python 3.5.1和MuJoCo 1.31 64位.

我猜这个问题是由于某种不兼容性造成的,我还试用了32.5位的32.5位的Python 3.5.2和32位的MuJoCo.甚至,我尝试了非逻辑32位Python和64位MuJoCo组合,反之亦然.

MuJoCo库中已编译的给定示例"simulate.exe"工作正常.所以,我想我的64位MuJoCo库没有问题.(顺便说一句,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mujoco_py库中的Python代码是否尝试从正确的路径加载"mujoco131.lib"(不是"mujoco131.dll").然后发生错误,代码无法进一步运行.

我对任何意见和建议持开放态度.

干杯! 祝你有愉快的一天!

Answer 1

尝试编辑mjlib.py,替换"bin/mujoco131.lib"用"bin/mujoco131.dll"的装载机.

我还必须明确指定platname = "win"的platname_targdir.py