Windows 10下运行OpenAI Gym人形机器人示例时MuJoCo构建错误

核心问题 #

编译mujoco_py扩展时触发致命错误：C1083: 无法打开包含文件: 'mujoco.h': 没有那个文件或目录，同时伴随MSVC编译器不识别-fopenmp参数的警告。

解决步骤 #

• 验证MuJoCo安装完整性
  检查C:\Users\Joe\.mujoco\mujoco210\include目录下是否存在mujoco.h文件。如果缺失，重新下载对应版本的MuJoCo（当前日志对应mujoco210）并解压到C:\Users\Joe\.mujoco目录。

• 配置系统环境变量
  添加环境变量MUJOCO_PY_MUJOCO_PATH，值设为C:\Users\Joe\.mujoco\mujoco210；同时将C:\Users\Joe\.mujoco\mujoco210\bin添加到PATH变量中，确保系统能加载MuJoCo的动态库。

• 处理编译器参数警告
  MSVC不支持GCC风格的-fopenmp参数，两种解决方式：

  1. 打开VS 2019 Build Tools安装程序，勾选安装C++ OpenMP组件，重启后重新运行代码；
  2. 临时禁用OpenMP：PowerShell中执行$env:MUJOCO_PY_DISABLE_OPENMP=1，CMD中执行set MUJOCO_PY_DISABLE_OPENMP=1，再运行示例代码。

• 重新编译mujoco_py

  1. 卸载现有版本：pip uninstall -y mujoco_py
  2. 删除残留缓存：手动删除C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py目录
  3. 以管理员身份打开VS 2019 x64原生工具命令提示符，执行pip install mujoco-py==2.1.2.14重新安装，确保编译器环境配置正确。

• 可选：解决distutils弃用警告
  Python 3.10中distutils已被弃用，建议安装兼容版本的setuptools：pip install setuptools==65.5.0，或考虑降级到Python 3.9（部分旧版mujoco_py对Python 3.10支持有限）。

原始错误日志（中文翻译版） #

PS C:\mayhem\gym\gym\envs\mujoco> python .\humanoid.py
C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py\builder.py:1: 弃用警告: distutils包已被弃用，计划在Python 3.12中移除。请使用setuptools或查看PEP 632获取替代方案
import distutils
C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py\builder.py:9: 弃用警告: distutils.sysconfig模块已被弃用，请使用sysconfig替代
from distutils.sysconfig import customize_compiler
running build_ext
building 'mujoco_py.cymj' extension
C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.29.30133\bin\HostX86\x64\cl.exe /c /nologo /Ox /W3 /GL /DNDEBUG /MD -IC:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py -IC:\Users\Joe\.mujoco\mujoco210\include -IC:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\numpy\core\include -IC:\Users\Joe\AppData\Local\Programs\Python\Python310\include -IC:\Users\Joe\AppData\Local\Programs\Python\Python310\Include -IC:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.29.30133\include -IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt -IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared -IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um -IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\winrt -IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\cppwinrt /TcC:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py\gl\dummyshim.c /FoC:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py\generated\_pyxbld_2.1.2.14_310_windowsextensionbuilder\temp.win-amd64-3.10\Release\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py\gl\dummyshim.obj -fopenmp -w
cl : 命令行警告 D9025 : 用'/w'重写'/W3'
cl : 命令行警告 D9002 : 忽略未知选项'-fopenmp'
dummyshim.c
C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\site-packages\mujoco_py\gl\glshim.h(4): 致命错误 C1083: 无法打开包含文件: 'mujoco.h': 没有那个文件或目录
Traceback (most recent call last):
File "C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\distutils\_msvccompiler.py", line 401, in compile
    self.spawn(args)
File "C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\distutils\_msvccompiler.py", line 507, in spawn
    return super().spawn(cmd)
File "C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\distutils\ccompiler.py", line 910, in spawn
    spawn(cmd, dry_run=self.dry_run)
File "C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\distutils\spawn.py", line 91, in spawn
    raise DistutilsExecError(
distutils.errors.DistutilsExecError: 命令'C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\BuildTools\\VC\\Tools\\MSVC\\14.29.30133\\bin\\HostX86\\x64\\cl.exe'以退出代码2失败

在处理上述异常期间，发生了另一个异常：

Traceback (most recent call last):
File "C:\mayhem\gym\gym\envs\mujoco\humanoid.py", line 4, in <module>
    from gym.envs.mujoco import MuJocoPyEnv
...
File "C:\Users\Joe\AppData\Local\Programs\Python\Python310\lib\distutils\_msvccompiler.py", line 403, in compile
    raise CompileError(msg)
distutils.errors.CompileError: 命令'C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\BuildTools\\VC\\Tools\\MSVC\\14.29.30133\\bin\\HostX86\\x64\\cl.exe'以退出代码2失败

内容的提问来源于stack exchange，提问作者jmcmahon443