前因:参考humanoid-gymhttps://github.com/roboterax/humanoid-gym 在ubuntu18.04上安装isaacgym,但是运行样例程序时出现报错:
$ python 1080_balls_of_solitude.py
Importing module 'gym_38' (/home/louie/Lib/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so) Setting GYM_USD_PLUG_INFO_PATH to /home/louie/Lib/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 段错误 (核心已转储)
经过搜索和尝试,有方案提出是没有安装vulkan
经过尝试,方法1和2都出现报错,具体内容是:
~$ vulkaninfo
=========== VULKAN INFO =========== Vulkan Instance Version: 1.1.70 /build/vulkan-UL09PJ/vulkan-1.1.70+dfsg1/demos/vulkaninfo.c:2700: failed with VK_ERROR_INITIALIZATION_FAILED
重新安装了显卡驱动,依然无果。于是尝试方法3
git clone https://github.com/SaschaWillems/Vulkan.git
git submodule sync
git submodule update --init --recursive
mkdir build
cd build
cmake ..
make
然后配置环境变量到~/.bashrc文件
export VULKAN_SDK=path/to/your/Vulkan
export PATH=$VULKAN_SDK/bin:$PATH
export LD_LIBRARY_PATH=$VULKAN_SDK/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}
export VK_LAYER_PATH=$VULKAN_SDK/etc/vulkan/explicit_layer.d
export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
测试安装:
vulkaninfo
出现一大串信息,则安装成功。
(似乎并不需要配置环境变量,因为后来我将环境变量删除重新source后,发现依旧可以正常运行)
再运行isaacgym的样例程序,成功出现仿真界面,问题解决。