mujoco 无法通过 python 代码启动仿真环境的解决方法

代码：

import mujoco
import mujoco.viewer

model = mujoco.MjModel.from_xml_string("""
<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom name="floor" type="plane" size="1 1 .1"/>
    <body name="ball" pos="0 0 1">
      <geom type="sphere" size=".3"/>
    </body>
  </worldbody>
</mujoco>
""")
data = mujoco.MjData(model)
mujoco.viewer.launch(model, data)

报错如下：

$ python scripts/test_mujoco.py 
libGL error: MESA-LOADER: failed to open radeonsi: /usr/lib/dri/radeonsi_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: radeonsi
libGL error: MESA-LOADER: failed to open radeonsi: /usr/lib/dri/radeonsi_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: radeonsi
libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
/home/yufeng/miniconda3/envs/tactile_envs/lib/python3.11/site-packages/glfw/__init__.py:916: GLFWError: (65543) b'GLX: Failed to create context: BadValue (integer parameter out of range for operation)'
  warnings.warn(message, GLFWError)
ERROR: could not create window

解决 via https://github.com/pygame/pygame/issues/3405
加入 export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 即可

posted @ 2025-08-03 11:15  SkyRainWind  阅读(92)  评论(0)    收藏  举报