3D仿真基础

3D环境

Ubuntu22.04镜像

镜像源	链接	备注
科大源	https://mirrors.ustc.edu.cn/ubuntu-releases/22.04/ubuntu-22.04.5-desktop-amd64.iso	安徽省内首选
清华源	https://mirrors.tuna.tsinghua.edu.cn/ubuntu-releases/22.04/ubuntu-22.04.5-desktop-amd64.iso	北方地区首选
浙大源	https://mirror.zju.edu.cn/ubuntu-releases/22.04/ubuntu-22.04.5-desktop-amd64.iso	华东地区
南大源	https://mirror.nju.edu.cn/ubuntu-releases/22.04/ubuntu-22.04.5-desktop-amd64.iso	仅江苏建议用，跨省网速稀烂

SimSpark仿真球场安装

建议直接apt安装，有抖M倾向的可以试试源码编译安装

教程：https://gitlab.com/robocup-sim/SimSpark/-/wikis/Installation-on-Linux#ubuntu

1> sudo apt-get update
2> sudo apt-get install curl tee gpg
3> echo 'deb http://download.opensuse.org/repositories/science:/SimSpark/xUbuntu_22.04/ /' | sudo tee /etc/apt/sources.list.d/science:SimSpark.list
4> curl -fsSL https://download.opensuse.org/repositories/science:SimSpark/xUbuntu_22.04/Release.key | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/science_SimSpark.gpg > /dev/null
5> sudo apt-get update
6> sudo apt-get install rcssserver3d

RoboViz

Release：https://github.com/magmaOffenburg/RoboViz/releases

注意不同版本的RoboViz需要不同的JDK版本，最新的应该是需要JDK17

可以到这里下载JDK：https://www.azul.com/downloads/?version=java-17-lts&os=windows&architecture=x86-64-bit&package=jdk#zulu

FCPCodebase依赖配置与强化学习环境配置

安装依赖

官方文档：https://docs.google.com/document/d/1aJhwK2iJtU-ri_2JOB8iYvxzbPskJ8kbk_4rb3IK3yc/edit?pli=1&tab=t.0

省流：

# 1> 是用来标识是第几行命令，不要也输入到终端了
1> sudo apt install libgsl-dev python3-pip
2> pip3 install numpy==1.24.0 pybind11 psutil
# 强化学习必备环境
3> pip3 install stable-baselines3 gym shimmy

注意：官方文档中说到，通过设置numpy来提高优化时的效率

# 你可以每次打开一个终端后输入一下这个命令
export OMP_NUM_THREADS=1
# 也可以直接一劳永逸，这样每次重新打开终端无需输入
echo "export OMP_NUM_THREADS=1">>~/.bashrc

设置rcssserver3d的配置

启动FCP底层的工具类

python3 Run_Utils.py

第一次会执行C++代码编译，等待一会后会有输出让你选择，此时选择0-Server即可对rcssserver3d进行设置

=======================================================================================================
        Setting         |  Value  |                            Description                             
------------------------+---------+--------------------------------------------------------------------
   0-Official Config    |  Off    |  Configuration used in official matches                            
   1-Penalty Shootout   |  Off    |  Server's Penalty Shootout mode                                    
   2-Soccer Rules       |  On     |  Play modes, automatic referee, etc.                               
   3-Sync Mode          |  On     |  Synchronous communication between agents and server               
   4-Real Time          |  Off    |  Real Time (or maximum server speed)                               
   5-Cheats             |  On     |  Agent position & orientation, ball position                       
   6-Full Vision        |  Off    |  See 360 deg instead of 120 deg (vertically & horizontally)        
   7-Add Noise          |  On     |  Noise added to the position of visible objects                    
   8-25Hz Monitor       |  On     |  25Hz Monitor (or 50Hz but RoboViz will show 2x the actual speed)  
=======================================================================================================

参考：https://www.tansor.it/机器学习/FCPCodebase深度学习脚本报错/

0-Official Config这个用来重置所有设置项的，不用管，保证1-8设置项为关开开关开关开开，此时球场是加速状态且同步模式启用

如果你想恢复正常模式，就再次进入到这个界面，然后选择0-Official Config即可