PHC & Isaac Gym & 远程可视化安装记录-CSDN博客

本文链接：https://blog.csdn.net/shlore/article/details/147787178

背景

需求

在远程Ubuntu服务器上运行PHC，在MacOS上可视化。

环境

服务器Ubuntu版本:

lsb_release -a
# 输出
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 22.04.5 LTS
Release:        22.04
Codename:       jammy

MacOS版本: 14.6 (23G80)
已配置好的VSCode，包含Remote-SSH等。

安装步骤

安装XQuartz。在VSCode的ssh config中，在要可视化的远程服务器后添加：

    ForwardX11 yes           # 启用 X11 转发
    ForwardX11Trusted yes    # 信任连接（避免安全提示）
    ForwardAgent yes         # 启用代理转发（可选）

PHC安装步骤见此处。

在安装PHC环境的过程中，遇到2. Download and setup Isaac Gym.，开始安装Isaac Gym。

安装Isaac Gym

安装Isaac Gym可以参考6。但是个人在安装过程中遇到多个错误。

Isaac Gym需要Vulkan。参考6安装Vulkan时使用如下命令：

sudo apt-get install cmake git gcc g++ mesa-* libwayland-dev libxrandr-dev
sudo apt-get install libvulkan1 mesa-vulkan-drivers vulkan-utils
vulkaninfo

在第二个install中，遇到E: Unable to locate package vulkan-utils。解决方法为，将sudo apt-get install libvulkan1 mesa-vulkan-drivers vulkan-utils替换为sudo apt-get install libvulkan1 mesa-vulkan-drivers vulkan-tools。（可能是Ubuntu 22.04的问题，不确定20.04是否需要如此替换）
安装好vulkan后，执行vulkaninfo --summary，检查安装情况。

安装好Isaac Gym与Vulkan后，执行python examples/joint_monkey.py时，输出为：

Importing module 'gym_38' (/home/yifei/Downloads/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Traceback (most recent call last):
  File "examples/joint_monkey.py", line 19, in <module>
    from isaacgym import gymapi, gymutil
  File "/home/yifei/Downloads/isaacgym/python/isaacgym/__init__.py", line 5, in <module>
    from isaacgym import gymapi
  File "/home/yifei/Downloads/isaacgym/python/isaacgym/gymapi.py", line 104, in <module>
    _import_active_version()
  File "/home/yifei/Downloads/isaacgym/python/isaacgym/gymapi.py", line 63, in _import_active_version
    module = importlib.import_module(package_path)
  File "/home/yifei/anaconda3/envs/isaac/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or directory

解决办法参考7，修改动态链接库搜索路径。

在修改动态链接库搜素路径后，在此运行python examples/joint_monkey.py时，输出为：

Importing module 'gym_38' (/home/yifei/Downloads/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/yifei/Downloads/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
WARNING: Forcing CPU pipeline.
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: disabled
No GPU devices found.
[Error] [carb.gym.plugin] Failed to create Nvf device in createNvfGraphics. Please make sure Vulkan is correctly installed.
*** Failed to create sim

检查Vulkan情况。执行vulkaninfo --summary，输出为：

ERROR: [Loader Message] Code 0 : libGLX_nvidia.so.0: cannot open shared object file: No such file or directory
ERROR: [Loader Message] Code 0 : /home/yifei/anaconda3/envs/isaac/lib/libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by /lib/x86_64-linux-gnu/libLLVM-15.so.1)
ERROR: [Loader Message] Code 0 : /home/yifei/anaconda3/envs/isaac/lib/libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by /lib/x86_64-linux-gnu/libLLVM-15.so.1)
WARNING: [Loader Message] Code 0 : terminator_CreateInstance: Failed to CreateInstance in ICD 2.  Skipping ICD.
ERROR: [Loader Message] Code 0 : setup_loader_term_phys_devs:  Failed to detect any valid GPUs in the current config
ERROR: [Loader Message] Code 0 : setup_loader_tramp_phys_devs:  Failed during dispatch call of 'vkEnumeratePhysicalDevices' to lower layers or loader to get count.
ERROR at ./vulkaninfo/vulkaninfo.h:230:vkEnumeratePhysicalDevices failed with ERROR_INITIALIZATION_FAILED

根据输出，发现错误与/home/yifei/anaconda3/envs/isaac/lib/libstdc++.so.6有关。考虑到修改动态链接库前，无此错误，所以考虑删除虚拟环境下的该库。在虚拟环境目录下执行mv lib/libstdc++.so.6 lib/libstdc++.so.6.bak，再次检查安装情况，则无此报错。

此时，执行python joint_monkey.py，出现可视化窗口，但是一闪而灭，且伴随如下输出：

Creating 36 environments
Animating DOF 0 ('abdomen_z')
Segmentation fault (core dumped)

vulkaninfo未检测到nvidia gpu。参考8重装显卡驱动即可。

若遇到libcuda.so相关的问题，可以参考9。不过解决后，并未发现显示速度有提升。

调试PHC可视化代码

运行python scripts/vis/vis_motion_mj.py出现如下错误：

Importing module 'gym_38' (/home/yifei/Downloads/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/yifei/Downloads/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
2025-05-08 05:43:21,243 - INFO - logger - logger initialized
MOVING MOTION DATA TO GPU, USING CACHE: False
MOVING MOTION DATA TO GPU, USING CACHE: False
!!!! Using modified SMPL starting pose !!!!
SIM FPS: 30.0

****************************** Current motion keys ******************************
Sampling motion: tensor([0])
standing
*********************************************************************************

100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 1/1 [00:01<00:00,  1.66s/it]
0it [00:00, ?it/s]
100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 1/1 [00:00<00:00, 25420.02it/s]
Loaded 1 motions with a total length of 33.300s and 1000 frames.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
/home/yifei/anaconda3/envs/isaac_a/lib/python3.8/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

根据10，认为该错误是libstdc++.so.6引起的。回顾安装Isaac Gym的第四步，处理方式可能不对。以

home/yifei/anaconda3/envs/isaac/lib/libstdc++.so.6: version `GLIBCXX_3.4.30’ not found

为关键词搜索，并参考11，解决该问题。但最终仍无效。
输入glxinfo，输出仍为：

name of display: localhost:10.0
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
X Error of failed request:  BadValue (integer parameter out of range for operation)
  Major opcode of failed request:  149 (GLX)
  Minor opcode of failed request:  24 (X_GLXCreateNewContext)
  Value in failed request:  0x0
  Serial number of failed request:  27
  Current serial number in output stream:  28