環境構築

1. webots2021bのインストール
   wget https://github.com/cyberbotics/webots/releases/download/R2021b/webots_2021b_amd64.deb
   sudo apt update && sudo apt upgrade
   sudo apt install ./webots_2021b_amd64.deb
2. sudo apt install python3-pip
3. pip3 install control controller gym==0.12.4 gymnasium numpy pettingzoo protobuf==3.19.1 tensorboardX==2.5 torch==1.10.2 wandb==0.12.11
4. git clone -b mat_verify https://github.com/citbrains/GankenKun_webots/
5. .bashrcに追加
   export WEBOTS_HOME=/usr/local/webots # Defines the path to Webots home.
   export LD_LIBRARY_PATH=$WEBOTS_HOME/lib/webots:$LD_LIBRARY_PATH # Add the Webots libraries to the library path (useful when launching Webots directly without using the launcher).
   export PYTHONPATH=$PYTHONPATH:$WEBOTS_HOME/lib/controller/python38
6. 実行
   cd GankenKun_webots/worlds/
   webots --batch mat_train.wbt
   cd GankenKun_webots/controllers/mat_train/
   python3 mat_train.py