FAQ

• I have Windows, can I use the REAL2021 Starter kit?
  Yes, you can. On Windows, you can easily install Git, Conda and Docker.
  However, the build.sh is supposed to be run from Linux (Ubuntu) and some libraries of the environment.yml can be tricky to install on Windows. We thus suggest to install a Linux subsystem on Windows (see https://docs.microsoft.com/en-gb/windows/wsl/install-manual). This enables to run an Ubuntu terminal on Windows, you will launch it as a normal application and inside that window it will be as if you were on a Linux system. To visualize the REAL simulation (or other GUIs) launched inside the Linux subsystem, it may be necessary to also run a software the emulates Linux graphic environment, such as VcXsrv (https://sourceforge.net/projects/vcxsrv/).

• Error message "FileNotFoundError: [Errno 2] No such file or directory: 'transitions_file.npz'"
  This means that the baseline is configured to look for a file called "transitions_file.npz" but it could not find it.
  This file contains the experience gathered during the intrinsic phase.
  To avoid the error, you have to run the intrinsic phase first - the baseline will automatically save a transitions_file.npz at the end of the intrinsic phase.

• Error message "Exception: Action type cannot be macro_action in Round 2"
  The macro_action cannot be used in the "Hard" environment (see options.yml file to either change control type or environment version)

• Error message "Exception: Baseline autoconfig only supports macro_action and joints control"
  The baseline has been tested only with macro_action and joints control. If you want to try the baseline with cartesian control, you have to edit baseline/config.yml file and turn the autoconfig option to off to stop this error. Other changes might also be needed to ensure that the baseline works under cartesian control (untested).

• Error message during environment creation: make not found (CondaEnvException: Pip failed)
  Some of the python packages are built during installation (crlibm in particular), so they need make and other programs to be compiled.
  On Ubuntu, it is possible to install these programs by doing:

  sudo apt-get install build-essential
  

  If the environment creation was interrupted by this error (or other errors), you may need to either install the remaining packages one by one or simply remove the environment altogheter and recreate it from scratch by doing:

  conda remove --name real_robots --all
  conda env create -f environment.yml
  

• Error message when launching evaluation: ImportError: libGL.so.1: cannot open shared object file: No such file or directory
  The baseline uses OpenCV (cv2) and OpenCV needs some libraries to be installed:

  sudo apt-get install libgl1-mesa-glx libglib2.0-0