====== mujoco问题处理集合 ======

===== libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: =====

原始错误一般如下：

<code>
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/ctbots/miniconda3/envs/openvla/lib/python3.10/site-packages/glfw/__init__.py:917: 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
</code>

一般是系统的LD_LIBRARY_PATH 设置有问题，没有加载到对应的so。我们直接一点，直接软链接，无视LD配置。

''sudo mkdir -p /usr/lib/dri && sudo ln -sf /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so /usr/lib/dri/swrast_dri.so''


=====libGL error: MESA-LOADER: failed to open swrast: /home/ctbots/miniconda3/envs/openvla/lib/libstdc++.so.6: version `GLIBCXX_3.4.29' not found =====

一般错误原因：conda 自带的libstdc++.so. 太老，直接进行替换。

''cd /home/ctbots/miniconda3/envs/openvla/lib && mv libstdc++.so.6 libstdc++.so.6.conda_backup && ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 libstdc++.so.6 && ls -l libstdc++.so.6*
''