robot 仿真环境安装测试 [持续更新]

将持续更新各种robot simulation环境的安装过程．

RLBench

安装CoppeliaSim、PyRep、RLBench
git: https://github.com/stepjam/RLBench/tree/master

（１）CoppeliaSim

sudo gedit ~/.bashrc

设置环境变量
export COPPELIASIM_ROOT=${HOME}/CoppeliaSim
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT

source ~/.bashrc

下载
https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz

# run and test CoppeliaSim
mkdir -p $COPPELIASIM_ROOT && tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -C $COPPELIASIM_ROOT --strip-components 1
ln -s $COPPELIASIM_ROOT/libcoppeliaSim.so $COPPELIASIM_ROOT/libcoppeliaSim.so.1
bash $COPPELIASIM_ROOT/coppeliaSim