前言
简单记录下自己安装RLBench的过程,也方便其他同学复现
参考文档
PyRep
https://github.com/stepjam/PyRep
RLBench
https://github.com/stepjam/RLBench#install
https://zhuanlan.zhihu.com/p/326659612
https://zhuanlan.zhihu.com/p/109281578
CoppeliaSim虚拟环境安装
https://github.com/stepjam/PyRep
建议直接通过pyrep给的下载链接直接安装,因为官网给的是高版本
笔者用的是22.04,安装20.04版本并没有问题
终端输入命令:sudo gedit ~/.bashrc # 打开环境变量
然后加上内容
export COPPELIASIM_ROOT=path/to/COPPELIASIM/root/directory
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
记得path=
后面不要有空格,否则一直找不到(踩坑)
PyRep安装
按照github的readme,一步步来
git clone https://github.com/stepjam/PyRep.git
cd PyRep
pip3 install -r requirements.txt
python3 setup.py install --user
这里,我后面发现python3 setup.py install --user
将pyrep安装在base env里面了,不是我要用的虚拟环境
改为虚拟环境中,cd到pyrep下,运行
pip install -e.
运行下面代码验证
python3 examples/example_baxter_pick_and_pass.py
RLBench安装
https://github.com/stepjam/RLBench#install
在虚拟环境中,安装步骤老三样:
git clone https://github.com/stepjam/RLBench.git
cd RLBench
pip install -r requirements.txt
然后pip install -e.
将RLBench添加进env
终端运行
python3 examples/single_task_rl.py
到此基本就完了
补充-pycharm运行问题
起因是我pycharm运行程序一直报错
ImportError: libcoppeliaSim.so.1: cannot open shared object file: No such file or directory
去github的issue查阅,也没有解决思路,路径是对的
https://github.com/stepjam/PyRep/issues/255
后面突然意识到终端可以运行,pycharm不行,问题出在pycharm
所以找到了解决方法
https://blog.csdn.net/hehedadaq/article/details/86634040
简单来说就是给bashrc加个path,然后通过终端pycharm.sh
启动,这样就可以pycharm识别到系统环境变量
补充-Qt加载问题
报错:
qt.qpa.plugin: Could not find the Qt platform plugin "xcb" in "/home/xxx/anaconda3/envs/xxx/lib/python3.9/site-packages/cv2/qt/plugins"
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
尝试:
github-issues
最终的解决方案:
pip uninstall opencv-python
pip install opencv-python-headless
这种途径据说cv.imshow会有问题,因为安装的是OpenCV的无GUI版本,也就是没有图形界面的版本。
补充-pycharm-debug报错
debug报错
File "/home/xxx/code/robotics/PyRep/pyrep/backend/sim.py", line 2, in <module>
from ._sim_cffi import ffi, lib
ImportError: /home/xxx/2023/CoppeliaSim/libQt5SerialPort.so.5: undefined symbol: _ZdlPvm, version Qt_5
这个错误只在debug-mode出现,应该是PyRep调用pyqt与debug-mode的pyqt冲突,解决方法
设置栏-python调试器-Pyqt兼容-取消勾选