dVRL ,我在Ubuntu 20.04版沒有成功,改在Ubuntu 18.04,先裝GPU driver跟CUDA,CuDNN,之後

sudo apt-get install libjpeg-dev zlib1g-dev #為了裝Pillow
pip3 install Pillow  #為了裝matplotlib
pip3 install gym==0.21.0
pip3 install transforms3d matplotlib

sudo wget http://se.archive.ubuntu.com/ubuntu/pool/main/libp/libpng/libpng12-0_1.2.54-1ubuntu1_amd64.deb
sudo dpkg -i libpng12-0_1.2.54-1ubuntu1_amd64.deb
sudo apt-get -y install libglib2.0-0 libqscintilla2-dev liblua5.1-0-dev libqt5serialport5-dev libqt5opengl5-dev mesa-utils libgl1-mesa-glx wget xvfb

因為是Ubuntu 18.04,所以docker安裝

sudo apt-get update
sudo apt-get remove docker docker-engine docker.io
sudo apt install docker.io
sudo systemctl start docker
sudo systemctl enable docker
docker --version
sudo docker info

安裝NVIDIA Container Toolkit,p.s.官網step1是舊的,會裝不到套件

# 新增套件＆系統更新&安裝
distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
      && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
      && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
            sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
            sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

sudo apt update
sudo apt install -y nvidia-docker2

#以裝過,從這開始
sudo pkill -SIGHUP dockerd
sudo systemctl restart docker

# [在此找docker鏡像](https://blog.csdn.net/wdnshadow/article/details/127566816) https://gitlab.com/nvidia/container-images/cuda/blob/master/doc/supported-tags.md  來啟動
sudo docker run --gpus all nvidia/cuda:12.0.1-base-ubuntu18.04 nvidia-smi

nvidia-ctk --version

但GUI for docker container?

sudo docker run -it \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    osrf/ros:indigo-desktop-full \
    rqt
export containerId=$(docker ps -l -q)

xhost +local:root # for the lazy and reckless
xhost -local:root
xhost +local:`docker inspect --format='{{ .Config.Hostname }}' $containerId`
docker start $containerId

git clone https://github.com/ucsdarclab/dVRL.git

2個docker file都要改

#Download and uncompress v-rep
#RUN mkdir -p /app/ \
#&& wget -SL coppeliarobotics.com/files/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz \
#&& tar -xzf /app/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz -C /app/ \
#&& mv /app/V-REP_PRO_EDU_V3_5_0_Linux /app/V-REP \
#&& rm /app/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz
#改成
#Download and uncompress v-rep
RUN mkdir -p /app/ \
&& wget -SL https://www.coppeliarobotics.com/files/V-REP_PRO_EDU_V3_6_2_Ubuntu18_04.tar.xz \
&& tar -xf /app/V-REP_PRO_EDU_V3_6_2_Ubuntu18_04.tar.xz -C /app/ \
&& mv /app/V-REP_PRO_EDU_V3_6_2_Ubuntu18_04 /app/V-REP \
&& rm /app/V-REP_PRO_EDU_V3_6_2_Ubuntu18_04.tar.xz

cd ~/dVRL
sudo sh build_dockers.sh 

自己下載V-REP, 是可以file -> ...-> dVRK-oneArm-pick.ttt,但不會動？

將~/dVRL/V-REP_PRO_EDU_V3_6_2_Ubuntu18_04/programming/remoteApiBindings/python/python下的vrep.py跟vrepConst.py,以及~/dVRL/V-REP_PRO_EDU_V3_6_2_Ubuntu18_04/programming/remoteApiBindings/lib/lib/Linux/64Bit下的remoteApi.so共3個檔案copy到工作目錄~/dVRL/dVRL_simulator

後來我寫mail問,他說他們這企劃案很久很久了,沒在用了