Fix PPO tutorial: Add gymnasium support and Mujoco rendering compatibility in Colab

[abhitorch81]

Fixes #3392

Description

This PR updates the reinforcement_ppo.py tutorial to improve compatibility with Google Colab and future-proof it for gymnasium usage.

Key Changes:

• Added fallback logic to import gymnasium if available, otherwise fall back to gym
• Dynamically select InvertedDoublePendulum-v5 or v4 based on the gym version
• Set MUJOCO_GL=osmesa in Colab/headless environments to avoid OpenGL rendering errors from Mujoco
• Ensures compatibility with Mujoco v3.1.1 and gymnasium[mujoco]

This makes the tutorial runnable out of the box in Google Colab, with improved robustness across versions.

Checklist

• The issue that is being fixed is referred in the description (see above "Fixes [BUG] - <title> Error in downloading MuJoCo Gymnasium library #3392")
• Only one issue is addressed in this pull request
• Labels from the issue that this PR is fixing are added to this pull request
• No unnecessary issues are included into this pull request

[pytorch-bot]

🔗 Helpful Links

🧪 See artifacts and rendered test results at hud.pytorch.org/pr/pytorch/tutorials/3401

• 📄 Preview Python docs built from this PR

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✅ No Failures

As of commit 4cbdff3 with merge base 3b23c0e ():
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[abhitorch81]

Note: The linkChecker CI failure is due to broken links in unrelated RL documentation pages (404s from pytorch.org/rl/reference/...). This PR does not modify any of those links.
@jonas @dreiss

[AlannaBurke]

This looks sane from doc point of view, make sure you get approval for the content

[abhitorch81]

This looks sane from doc point of view, make sure you get approval for the content

I have added changes with the Gymnasium library as Gym was failing with Google Colab so I have put a condition @AlannaBurke

[svekars]

@vmoens

[abhitorch81]

@vmoens any update on this ? if possible can you check and update if any changes are to be made.

[vikasbahirwani]

@abhitorch81 Are you able to run the tutorial properly with your changes in Google Colab CPU Runtime? If you are using another I would love to learn how you are running your colab. I am getting the error AttributeError: 'NoneType' object has no attribute 'glGetError' . Thoughts?

[abhitorch81]

@abhitorch81 Are you able to run the tutorial properly with your changes in Google Colab CPU Runtime? If you are using another I would love to learn how you are running your colab. I am getting the error AttributeError: 'NoneType' object has no attribute 'glGetError' . Thoughts?

Can you check the files the commit that I have mentioned https://github.com/pytorch/tutorials/pull/3401/files

[vikasbahirwani]

I ran with your changes exactly and I am getting this error. Let me run this again and see if it happens. I will also take a video capture of my screen so you can see exactly what is going on.

[vikasbahirwani]

@abhitorch81 Here is a video screen capture of me running this in Google Colab with your fix. The video shows the problem after time 4:35. Though you can see the whole video to see how I start my runtime etc. I would love to know what I am doing differently than you. Looking forward to hearing from you.

[abhitorch81]

I ran with your changes exactly and I am getting this error. Let me run this again and see if it happens. I will also take a video capture of my screen so you can see exactly what is going on.

I will check on this.

[abhitorch81]

I ran with your changes exactly and I am getting this error. Let me run this again and see if it happens. I will also take a video capture of my screen so you can see exactly what is going on.

I will check on this.

I am adding the updated jupyter notebook,hope it helps
Copy_of_reinforcement_ppo.ipynb

[vikasbahirwani]

Thank you very much @abhitorch81 - that fix worked. Wouldn't it be beneficial to check that in too?

Also was it previously installed mujoco that you helped clean up or was it the export that helped resolve the issue?

[abhitorch81]

@vikasbahirwani I tried going with the flow from scratch and it worked.Thanks