1 环境搭建问题

1.1 mujoco 相关

(1) mujoco-py 安装后编译错误 Error compiling Cython file

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performance hint: /home/mahaofei/anaconda3/envs/reskill_new/lib/python3.7/site-packages/mujoco_py/cymj.pyx:67:5: Exception check on 'c_warning_callback' will always require the GIL to be acquired.
Possible solutions:
	1. Declare the function as 'noexcept' if you control the definition and you're sure you don't want the function to raise exceptions.
	2. Use an 'int' return type on the function to allow an error code to be returned.
performance hint: /home/mahaofei/anaconda3/envs/reskill_new/lib/python3.7/site-packages/mujoco_py/cymj.pyx:104:5: Exception check on 'c_error_callback' will always require the GIL to be acquired.
Possible solutions:
	1. Declare the function as 'noexcept' if you control the definition and you're sure you don't want the function to raise exceptions.
	2. Use an 'int' return type on the function to allow an error code to be returned.

Error compiling Cython file:
------------------------------------------------------------
...
    See c_warning_callback, which is the C wrapper to the user defined function
    '''
    global py_warning_callback
    global mju_user_warning
    py_warning_callback = warn
    mju_user_warning = c_warning_callback
                       ^
------------------------------------------------------------

/home/mahaofei/anaconda3/envs/reskill_new/lib/python3.7/site-packages/mujoco_py/cymj.pyx:92:23: Cannot assign type 'void (const char *) except * nogil' to 'void (*)(const char *) noexcept nogil'. Exception values are incompatible. Suggest adding 'noexcept' to type 'void (const char *) except * nogil'.

Error compiling Cython file:
------------------------------------------------------------
...
    See c_warning_callback, which is the C wrapper to the user defined function
    '''
    global py_error_callback
    global mju_user_error
    py_error_callback = err_callback
    mju_user_error = c_error_callback
                     ^
------------------------------------------------------------

解决方法：

参考：stackoverflow 与 github issue

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pip install "cython<3"

(2) ERROR: GLEW initalization error: Missing GL version

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/home/mahaofei/anaconda3/envs/reskill_new/lib/python3.7/site-packages/gym/envs/registration.py:64: UserWarning: register(timestep_limit=100) is deprecated. Use register(max_episode_steps=100) instead.
  warnings.warn("register(timestep_limit={}) is deprecated. Use register(max_episode_steps={}) instead.".format(timestep_limit, timestep_limit))
Creating window glfw
ERROR: GLEW initalization error: Missing GL version

Press Enter to exit ...Killed

解决方法：

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export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so