[우분투/리눅스] 강화학습 mujoco 환경 설정하기

1. gymnasium 설치

pip install gymnasium[mujoco]
pip install gymnasium[mujoco-py]

 

 

2. mujoco engine 설치

https://mujoco.org/

MuJoCo — Advanced Physics Simulation

원하는 버전 찾기

 

 

링크를 복사한다.

 

wget https://github.com/google-deepmind/mujoco/releases/download/3.3.0/mujoco-3.3.0-linux-x86_64.tar.gz

tar -xvf mujoco-3.3.0-linux-x86_64.tar.gz
sudo mkdir -p /opt/mujoco
sudo mv mujoco-3.3.0 /opt/mujoco/

 

Bashrc에 추가

export MUJOCO_GL=egl
export MUJOCO_PATH=/opt/mujoco/mujoco-3.3.0
export LD_LIBRARY_PATH=$MUJOCO_PATH/bin:$LD_LIBRARY_PATH

 

Test Code

import mujoco
import gymnasium as gym

env = gym.make("HalfCheetah-v5")
state, _ = env.reset()
print("MuJoCo 환경 로딩 성공! 상태 shape:", state.shape)