系统环境: ubuntu18.04
python环境:anaconda创建的虚拟环境,预装tf14和pytorch1.15
第一坑:makefile设置
以下仅适用于conda环境:
EIGEN_DIR = /home/***your path***/eigen-eigen-323c052e1731
BULLET_INC_DIR = /home/***your path***/bullet3-2.88/src
PYTHON_INC = /home/***yuor username***/anaconda3/envs/tf14/include/python3.6m
PYTHON_LIB = /home/***yuor username***/anaconda3/envs/tf14/lib -lpython3.6m
第二坑:软连接报错
错误信息:见deepmimic的issues115
from . import _DeepMimicCore ImportError: libGLEW.so.2.1: cannot open shared object file: No such file or directory
解决方法:添加软连接,让程序找到所引用位置
sudo ldconfig /usr/lib64
第三坑:bullet3安装的精度参数
错误信息:见的平米迷彩的issue85
Undefined symbol: _ZN11btMultiBody22addJointTorqueMultiDofEiPKF
解决办法:在编译bullet前修改精度
tar xvzf bullet3-2.88.tar.gz
cd bullet3-2.88
sed -i 's/-DUSE_DOUBLE_PRECISION=ON/-DUSE_DOUBLE_PRECISION=OFF/g'
build_cmake_pybullet_double.sh
./build_cmake_pybullet_double.sh
cd build_cmake
make install
cd ../..