guided policy search代码在pycharm中调试的mjcpy激活的坑

##　guided policy search代码在pycharm中调试的mjcpy激活的坑

world = mjcpy.MJCWorld(model_path) ERROR: Could not open activation key file src/3rdparty/mjpro/mjkey.txt Press Enter to exit …

在terminal中尝试

成功案例！ 失败案例！

pycharm中尝试

失败案例

问题的根本原因

working directory的不同，导致了问题的公共和失败，在中的目录结构简单如下：

tree -L 2
# 显示如下目录，省略了大部分不要的
.
├── compile_proto.sh
├── docs
├── experiments
├── Guided Policy Search — GPS 0.1 documentation_files
├── LICENSE
├── mjc_models
├── python
│   ├── gps
│   ├── __init__.py
│   └── tests
├── README.md
├── src
└── vrep_models

pycharm打开最外层的gps文件夹，包含所有如上的目录，在对path_to_gps/gps/python/gps/gps_main.py调试的时候，工作目录是path_to_gps/gps/python/gps/gps_main.py，而激活mujoco mjckey.txt所要的工作目录是path_to_gps/gps/，结合原始教程中的示例：

cd path_to_gps/gps/

python python/gps/gps_main.py mjc_mdgps_example

pycharm中的修改

将working directory修改到正确的工作目录就行了

terminal中的测试代码

# python==2.7.15

import mjcpy
import sys

path = "path_to_gps/gps/python/"
sys.path.append(path)

model_path = "path_to_gps/gps/mjc_models/pr2_arm3d.xml"
world = mjcpy.MJCWorld(model_path)

print world