Mujoco 记录视频问题

env.render() 出错

之前想记录机器人运行的视频, 然后发现无法渲染(也许是用这个词吧!)的问题:

1. 渲染无图 (当时google了一下, 好像是 unset 了一个什么东西, 虽然能够 render 但是图像全黑…)
2. # Failed to load OpenGL (如果不 unset 那个玩意儿, 就会出现这个问题)

找到了一个issue里面提到解决办法

There have been multiple issues which relate to the same error (#598, #187, #390) but unfortunately none of them worked for me. What worked was to change this line in <site_packages>/gym/envs/mujoco/mujoco_env.py to:

self.viewer = mujoco_py.MjRenderContextOffscreen(self.sim, None, -1)

You can find the location of <site_packages> in your system by using pip show gym.

如果是 gymnasium 的话, 就在 <site_packages> 里面找到 gymnasium/envs/mujoco/mujoco_env.py 然后修改 self.viewer = mujoco_py.MjRenderContextOffscreen(self.sim, None, -1) 这一行.

一些版本信息:

gym                       0.26.2                   pypi_0    pypi
gym-notices               0.0.8                    pypi_0    pypi
gymnasium                 0.26.3                   pypi_0    pypi
gymnasium-notices         0.0.1                    pypi_0    pypi
mujoco                    3.1.1                    pypi_0    pypi
mujoco-py                 2.1.2.14                 pypi_0    pypi