git clone git@github.com:PKU-MARL/Safe-Policy-Optimization.git
Safe-Policy-Optimization
conda create -n safepo python=3.8
conda activate safepo
pip install -e .
conda install mpi4py
# install pytorch according to your cuda version
pip install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html

Download mujoco200 linux from http://www.roboti.us/download.html
Download Activation key from http://www.roboti.us/license.html
mkdir ~/.mujoco
mv mujoco200_linux.zip ~/.mujoco
mv mjkey.txt ~/.mujoco/
cd ~/.mujoco
unzip mujoco200_linux.zip
mv mujoco200_linux mujoco200
cp mjkey.txt ~/.mujoco/mujoco200
cp mjkey.txt ~/.mujoco/

Please add following line to .bashrc:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/.mujoco/mujoco200/bin
source ~/.bashrc
pip install mujoco_py==2.0.2.7

Details regarding installation of IsaacGym can be found [here](https://developer.nvidia.com/isaac-gym). We currently support the `Preview Release 3` version of IsaacGym.
Ensure that Isaac Gym works on your system by running one of the examples from the `python/examples`
directory, like `joint_monkey.py`. Follow troubleshooting steps described in the Isaac Gym Preview 2
install instructions if you have any trouble running the samples.

ImportError: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.29' not found (required by /home/jiamg/miniconda3/envs/safepo/lib/python3.8/site-packages/pandas/_libs/window/aggregations.cpython-38-x86_64-linux-gnu.so)

/tmp/pip-install-ibsk3pie/mujoco-py_86d5be32b0b64b41b92097c8bb522d0a/mujoco_py/gl/osmesashim.c:1:10: fatal error: GL/osmesa.h: No such file or directory
          1 | #include <GL/osmesa.h>
            |          ^~~~~~~~~~~~~
      compilation terminated.
      error: command '/usr/bin/gcc' failed with exit code 1
      [end of output]

error: [Errno 2] No such file or directory: 'patchelf'
      [end of output]