Sim2real environment configuration tutorial

1. Download mirroring tar Package to local

Due to official docker The mirror address source is abroad , Download is slow , Therefore, the corresponding server and client images are uploaded to Alibaba cloud in advance , Mirror first tar Download the package locally , In the download tar You can complete the following operations while packaging .

2. download sim2real Start the script file locally and install the image

sim2real Official installation tutorial
Just follow the official tutorial , Here are some key points : There are many differences in the host operation , Please refer mainly to this document

• First, download the startup script locally , Then install according to the official prompt document : The startup script is shown in the figure

• Pay attention to the second step of host operation [ install nvida driver] There is a hole in this step , Please install according to the video I gave :

• Pay attention to the fifth step of host operation [ download docker image], The operation steps here are as follows :

  • First get the two given tar package , Pictured :
  • Then put these two tar Package import docker in , The instructions are as follows :
  • docker load < /home/dp/sim2real_package/sim2real_server_v_1_3_0.tar
  • docker load < /home/dp/sim2real_package/sim2real_client_v_1_2_0.tar
  • Be careful :/home/dp/sim2real_package/ It's the place where these two bags are stored on my computer , Please pay attention to modification when using
  • Then the input docker images check
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  • 
  • The string in the third column represents the mirrored id name , Please check whether these two exist ID name , If it does not exist, the import fails , If it exists, the import succeeds
  • Currently, the two imported images have no identification names , Let's mark it , It is convenient for us to use in the future , The instructions are as follows :
  • docker tag 8a1e835533aa sim2real_client:1.2.0
  • docker tag 206f8c04b635 sim2real_server:1.3.0
  • Input again docker images check
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  • As shown in the figure, the import is successful

3. Configure client and server

• That is, modify the files in the startup script
• Modify the client script file
  • 
  • Enter the downloaded startup script file
  • then ALT+CTRL+T Open a new terminal , Input gedit ./create_container_client.sh
  • 
  • Modify the highlighted behavior sim2real_client:1.2.0, Save it after modification
  • Input... In the terminal ./create_container_client.sh , complete
• Modifying the server script file is the same

  • Enter the following path

  • Start the new terminal , Input gedit ./create_container_server.sh

  • Modify the highlighted behavior :sim2real_server:1.3.0, Save after modification

  • 

  • The input terminal ./create_container_server.sh

• Complete the above steps to complete the installation of the emulator image

4. Verify the environment and be familiar with the operation

Most of the main pits have been completed , The rest of the simulator usage tutorials , Please refer to the official document except [ Host operation ] All contents of the section ,good luck.