Deepmimic安装 避坑指北_安装bullet 2.88

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 ../..