installation_and_troubleshoot.md

Installation Steps:

1. Install Miniconda:

   • Download Miniconda from the official website and follow the installation instructions for your operating system.

2. Create a Virtual Environment:

   conda create -n quadrobo_env python=3.12
   conda activate quadrobo_env

3. Install Required Packages:

   pip install gymnasium[mujoco] matplotlib hydra-core

4. Install CadQuery:

   pip install cadquery

5. Install quadrobo_gym Custom Environment:

   If quadrobo_gym is not available via pip, ensure you have access to its source code and install it using:

   pip install /path/to/quadrobo_gym

Note: Always ensure that your package versions are compatible to prevent such errors. Regularly check the official repositories and documentation for updates and fixes related to these issues.

Troubleshooting Known Issues:

To address the issues you've encountered, follow these troubleshooting steps:

1. AttributeError: module 'numpy' has no attribute 'bool8'

This error arises due to incompatibility between CadQuery and numpy version 2.0.0, where the bool8 attribute has been removed. To resolve this:

• Downgrade numpy to a compatible version:

  pip install numpy==1.26.4

This solution is discussed in CadQuery's GitHub issue #1626.

2. AttributeError: 'MjData' object has no attribute 'solver_iter'

This error occurs because, in MuJoCo version 3.0.0, the solver_iter attribute has been renamed to solver_niter. To fix this:

• Update your code to use the new attribute name:

  Replace instances of solver_iter with solver_niter in your codebase.

This change is detailed in Gymnasium's GitHub pull request #746.