maniskill2环境配置

官方文档：https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html

流程

安装mani-skill2

pip install mani-skill2

安装必要的assets

python -m mani_skill2.utils.download_asset all

非常耗时，180+压缩包

安装Vulkan driver

1. 安装Vulkansudo apt-get install libvulkan1

2. 测试Vulkan是否安装成功，依次运行sudo apt-get install vulkan-tools、vulkaninfo

   这个测试方法，可能会失败，但并不意味着Vulkan驱动安装失败，也可以采用下一节的测试方法。

测试Vulkan是否安装成功

配置Ubuntu18.04+NVIDIA 3090+无图形界面

1. pip install vulkan

2. 运行下面脚本

   from vulkan import *
   
   def main():
       app_info = VkApplicationInfo(
           sType = VK_STRUCTURE_TYPE_APPLICATION_INFO,
           pApplicationName = b"VulkanTest",
           applicationVersion = VK_MAKE_VERSION(1, 0, 0),
           pEngineName = b"NoEngine",
           engineVersion = VK_MAKE_VERSION(1, 0, 0),
           apiVersion = VK_API_VERSION_1_0
       )
   
       create_info = VkInstanceCreateInfo(
           sType = VK_STRUCTURE_TYPE_INSTANCE_CREATE_INFO,
           pApplicationInfo = app_info
       )
   
       try:
           instance = vkCreateInstance(create_info, None)
           print("✅ Vulkan instance created successfully.")
       except VkError as e:
           print(f"❌ Failed to create Vulkan instance: {e}")
           return
   
       devices = vkEnumeratePhysicalDevices(instance)
       print(f"🖥️  Found {len(devices)} physical device(s).")
   
       for i, device in enumerate(devices):
           props = vkGetPhysicalDeviceProperties(device)
           name = props.deviceName
           version = props.apiVersion
           major = VK_VERSION_MAJOR(version)
           minor = VK_VERSION_MINOR(version)
           patch = VK_VERSION_PATCH(version)
           print(f"  GPU {i}: {name} (API Version: {major}.{minor}.{patch})")
   
       # Clean up
       vkDestroyInstance(instance, None)
   
   if __name__ == "__main__":
       main()

3. 如果Vulkan安装成功，会返回类似如下输出

   ✅ Vulkan instance created successfully.
   🖥️  Found 1 physical device(s).
     GPU 0: NVIDIA GeForce RTX 3090 (API Version: 1.3.277)

测试maniskill是否安装成功

1. 运行下面脚本

   import gymnasium as gym
   import mani_skill2.envs  # register env
   
   env = gym.make(
       "PickCube-v0",
       obs_mode="state",
       control_mode="pd_ee_delta_pos",
       render_mode=None
   )
   
   obs, _ = env.reset()
   
   for i in range(100):
       action = env.action_space.sample()
       obs, reward, terminated, truncated, info = env.step(action)
       if terminated or truncated:
           obs, _ = env.reset()
           
   print(f"obs {obs}")
   print(f"reward {reward}")
   print(f"terminated {terminated}")
   print(f"truncated {truncated}")
   print(f"info {info}")
   
   env.close()

2. 顺利返回obs、reward、terminated、truncated、info等信息，说明maniskill安装成功

3. 可能遇到如下警告，不影响程序运行

   [2025-05-27 15:56:06.699] [svulkan2] [error] GLFW error: X11: The DISPLAY environment variable is missing
   [2025-05-27 15:56:06.699] [svulkan2] [warning] Continue without GLFW.