1. miniconda安装

   wget <https://mirrors.bfsu.edu.cn/anaconda/miniconda/Miniconda3-py39_23.1.0-1-Linux-x86_64.sh>
   

   安装：

   bash Miniconda3-py39_23.1.0-1-Linux-x86_64.sh
   

   配置清华源：

   conda config --add channels <https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/msys2/> 
   conda config --add channels <https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/>
   conda config --add channels <https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/> 
   conda config --add channels <https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/peterjc123/>
   conda config --add channels <https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/>
   conda config --add channels conda-forge
   conda config --set show_channel_urls yes
   

   设置pip清华源：

   pip install pip -U
   pip config set global.index-url <https://pypi.tuna.tsinghua.edu.cn/simple>
   

   创建环境：

   conda create -n dreamer python=3.9.16
   conda config --set channel_priority true
   

   安装pytorch：

   conda install pytorch torchvision torchaudio pytorch-cuda=11.7 -c pytorch -c nvidia
   # cuda 12.1
   conda install pytorch torchvision torchaudio pytorch-cuda=12.1 -c pytorch -c nvidia
   

   Mujoco下载：

   wget <https://github.com/deepmind/mujoco/releases/download/2.1.0/mujoco210-linux-x86_64.tar.gz>
   tar -zxvf mujoco210-linux-x86_64.tar.gz
   mkdir .mujoco
   mv mujoco210 ~/.mujoco
   

   mujoco-py

   pip install mujoco-py==2.1.2.14 -i <https://pypi.tuna.tsinghua.edu.cn/simple>
   

   pip install cython==0.29.34 -i <https://pypi.tuna.tsinghua.edu.cn/simple>
   

   注意此处的Cython版本为0.29.34

   安装Meta-World

   meta-world(0.1.0版本，git下的已经是2.0.0版本了)

   git clone <https://github.com/rlworkgroup/metaworld.git>
   cd metaworld
   pip install -e .
   

   环境变量：

   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/xxx/.mujoco/mujoco210/bin
   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia
   

   patchelf libglew-dev libosmesa6-dev libgl1-mesa-glx libglfw3

   安装d4rl

   pip install dm_control -i <https://pypi.tuna.tsinghua.edu.cn/simple>
   git clone <https://github.com/rail-berkeley/d4rl.git>
   git clone <https://github.com/Farama-Foundation/d4rl.git>
   git clone <https://github.com/aravindr93/mjrl.git>
   

   找到到d4rl目录下的setup.py文件，注释mujoco_py, dm_control, mjrl

   pip install **-**e **.**

   其他

   pyrep

   https://github.com/stepjam/PyRep

   CoppeliaSim_Edu

   wget <https://www.coppeliarobotics.com/files/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz> --no-check-certificate
   tar xvJf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
   mv CoppeliaSim_Edu_V4_1_0_Ubuntu20_04 CoppeliaSim
   

   export QT_QPA_PLATFORM=offscreen

   git clone <https://github.com/stepjam/PyRep.git>
   cd PyRep
   
   export COPPELIASIM_ROOT=/home/jmyang/CoppeliaSim
   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
   export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
   

   xvfb-run

python dataset_generator.py --save_path=./data --tasks=take_lid_off_saucepan --image_size=128,128 \\
--renderer=opengl --episodes_per_task=100 --variations=1 --processes=1

#/bin/sh

# Clean Process Space:
kill -9 `pidof xvfb-run`
kill -9 `pidof java`
kill -9 `pidof Xvfb`

# Launch a virtual screen
Xvfb :101 -screen 0 1024x768x24 2>&1 >/dev/null &
nohup sudo X &
export DISPLAY=:101
export DISPLAY=:0.0

xvfb-run --auto-servernum --server-args="-screen 0 1280x760x24" ./1.sh

# Launch the script
xvfb-run "/home/me/test.sh" &

history -c

安装gym==0.21.0

pip install setuptools==65.5.0
pip install --user wheel==0.38.0

bash Miniconda3-py39_23.1.0-1-Linux-x86_64.sh

克隆conda环境：

conda create -n B --clone A

切换conda

export PATH=/cache/myname/anaconda3/bin:$PATH . /cache/myname/anaconda3/etc/profile.d/conda.sh

切换清华元