ubuntu 22.04安装pybullet

1.安装pybullet

conda create -n pybullet

conda activate pybullet

pip install pybullet

2.运行例程检查安装是否成功

python -m pybullet_robots.panda.loadpanda

3.解决报错

(1)

libGL error: MESA-LOADER: failed to open iris: /usr/lib/dri/iris_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: iris

报错显示找不到 iris 驱动，但在 /usr/lib/x86_64-linux-gnu/dri/iris_dri.so 可以找到 iris 驱动

cd /usr/lib

mkdir dri

cd dri

sudo ln -s /usr/lib/x86_64-linux-gnu/dri/iris_dri.so iris_dri.so

通过建立一个 /usr/lib/dri/iris_dri.so 的软连接来解决

(2)

libGL error: MESA-LOADER: failed to open iris: /home/eraser/anaconda3/envs/pybullet/bin/../lib/libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by /lib/x86_64-linux-gnu/libLLVM-15.so.1) (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: iris

这是由于 libstdcxx-ng 版本不够高造成的,需要安装新版本的libstdcxx-ng

conda config --add channels conda-forge

conda install -c conda-forge libstdcxx-ng

注意：这里需要加conda-forge源，其他源中好像没有libstdcxx-ng