Text2Reward学习笔记

1. 环境配置

1.1 安装 PyTorch-1.13.1

pip install torch==1.13.1+cu116 torchvision==0.14.1+cu116 \
torchaudio==0.13.1 --extra-index-url https://download.pytorch.org/whl/cu116

1.2 安装工具库

pip install stable-baselines3==1.8.0 wandb tensorboard \
-i https://pypi.tuna.tsinghua.edu.cn/simple

pip install langchain chromadb==0.4.0 \
-i https://pypi.tuna.tsinghua.edu.cn/simple

2. Troubleshooting

（1）出现错误“mujoco_py/gl/eglshim.c:4:10: fatal error: GL/glew.h: 没有那个文件或目录 4 | #include <GL/glew.h>”

错误信息如下：

>>> import mujoco_py
~/anaconda3/envs/text2reward/lib/python3.7/site-packages/mujoco_py/gl/eglshim.c:4:10: fatal error: GL/glew.h: 没有那个文件或目录4 | #include <GL/glew.h>|          ^~~~~~~~~~~
compilation terminated.
Traceback (most recent call last):File "~/anaconda3/envs/text2reward/lib/python3.7/site-packages/setuptools/_distutils/unixccompiler.py", line 186, in _compileself.spawn(compiler_so + cc_args + [src, '-o', obj] + extra_postargs)File "~/anaconda3/envs/text2reward/lib/python3.7/site-packages/setuptools/_distutils/ccompiler.py", line 1007, in spawnspawn(cmd, dry_run=self.dry_run, **kwargs)File "~/anaconda3/envs/text2reward/lib/python3.7/site-packages/setuptools/_distutils/spawn.py", line 71, in spawn"command {!r} failed with exit code {}".format(cmd, exitcode)
distutils.errors.DistutilsExecError: command '/usr/bin/gcc' failed with exit code 1During handling of the above exception, another exception occurred:Traceback (most recent call last):File "<stdin>", line 1, in <module>File "~/anaconda3/envs/text2reward/lib/python3.7/site-packages/mujoco_py/__init__.py", line 2, in <module>from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException... # 中间代码省略File "~/anaconda3/envs/text2reward/lib/python3.7/site-packages/setuptools/_distutils/unixccompiler.py", line 188, in _compileraise CompileError(msg)
distutils.errors.CompileError: command '/usr/bin/gcc' failed with exit code 1

由错误信息可以看出，这里其实是缺少GL工具，安装一下即可；

Gemini 2.0 Flash：GLEW（OpenGL Extension Wrangler Library）是一个OpenGL扩展管理库，用来管理和使用 OpenGL的新功能。

Note：glew可以尝试用conda安装。

可以参考官方命令；
也可以尝试使用以下命令安装：

sudo apt-get install libglew-dev libosmesa6-dev

（2）出现错误“FileNotFoundError: [Errno 2] No such file or directory: ‘patchelf’: ‘patchelf’”

错误信息如下：

>>> import mujoco_py
Traceback (most recent call last):File "<stdin>", line 1, in <module>File "~/anaconda3/envs/myenv/lib/python3.7/site-packages/mujoco_py/__init__.py", line 2, in <module>from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoExceptionFile "~/anaconda3/envs/myenv/lib/python3.7/site-packages/mujoco_py/builder.py", line 504, in <module>cymj = load_cython_ext(mujoco_path)File "~/anaconda3/envs/myenv/lib/python3.7/site-packages/mujoco_py/builder.py", line 110, in load_cython_extcext_so_path = builder.build()File "~/anaconda3/envs/myenv/lib/python3.7/site-packages/mujoco_py/builder.py", line 226, in buildbuilt_so_file_path = self._build_impl()File "~/anaconda3/envs/myenv/lib/python3.7/site-packages/mujoco_py/builder.py", line 297, in _build_implfix_shared_library(so_file_path, 'libOpenGL.so', 'libOpenGL.so.0')File "~/anaconda3/envs/myenv/lib/python3.7/site-packages/mujoco_py/builder.py", line 154, in fix_shared_librarysubprocess.check_call(['patchelf', '--remove-rpath', so_file])File "~/anaconda3/envs/myenv/lib/python3.7/subprocess.py", line 358, in check_callretcode = call(*popenargs, **kwargs)File "~/anaconda3/envs/myenv/lib/python3.7/subprocess.py", line 339, in callwith Popen(*popenargs, **kwargs) as p:File "~/anaconda3/envs/myenv/lib/python3.7/subprocess.py", line 800, in __init__restore_signals, start_new_session)File "~/anaconda3/envs/myenv/lib/python3.7/subprocess.py", line 1551, in _execute_childraise child_exception_type(errno_num, err_msg, err_filename)
FileNotFoundError: [Errno 2] No such file or directory: 'patchelf': 'patchelf'

这里其实就是提示缺少patchelf工具，安装一下即可；

Note: patchelf可以用conda来安装。

海螺AI: 在这里，patchelf 是一个用于修改 ELF 可执行文件和库的实用工具。在你的错误信息中，MuJoCo在构建时使用patchelf来修改共享库（主要是动态链接库 .so文件）的运行时路径（rpath）。