我是一名学生,有兴趣在我的 Macbook 上本地运行机器人操作课程中的代码,而不是使用 Deepnote。我的机器使用 Apple M3 芯片和 macOS Sonoma 14.5,我运行以下命令进行安装:
mamba create -n robotic_manipulation python=3.12
mamba activate robotic_manipulation
pip install manipulation==2024.04.22 --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/
pip install notebook
然后,为了确保
meshcat
正常工作,我运行了 brew install zmq
。
此后,我在本地启动了一个
jupyter notebook
实例,并尝试在 intro.ipynb
[source] 中运行导入的第一个单元格。但是,我遇到了这个错误跟踪:
---------------------------------------------------------------------------
AttributeError Traceback (most recent call last)
AttributeError: `itemset` was removed from the ndarray class in NumPy 2.0. Use `arr[index] = value` instead.
The above exception was the direct cause of the following exception:
ImportError Traceback (most recent call last)
ImportError: initialization failed
The above exception was the direct cause of the following exception:
ImportError Traceback (most recent call last)
File ~/miniforge3/envs/robotic_manipulation/lib/python3.12/site-packages/pydrake/visualization/_model_visualizer.py:28
23 from pydrake.multibody.tree import (
24 FixedOffsetFrame,
25 FrameIndex,
26 default_model_instance,
27 )
---> 28 from pydrake.planning import RobotDiagramBuilder
29 from pydrake.systems.analysis import Simulator
ImportError: initialization failed
The above exception was the direct cause of the following exception:
ImportError Traceback (most recent call last)
Cell In[1], line 11
9 from pydrake.systems.framework import DiagramBuilder, EventStatus, LeafSystem
10 from pydrake.systems.rendering import MultibodyPositionToGeometryPose
---> 11 from pydrake.visualization import MeshcatPoseSliders
13 from manipulation import running_as_notebook
14 from manipulation.meshcat_utils import StopButton, WsgButton
ImportError: initialization failed
有人知道解决这个问题的方法吗?
最后,我采用以下方法解决了我的问题:
mamba create -n robotic_manipulation python=3.12
mamba activate robotic_manipulation
pip install manipulation numpy==1.26.4 notebook
我必须指定在
numpy==1.26.4
之后安装 manipulation
,因为由于某种原因,numpy==2.0.0rc2
在 pip install manipulation
过程中被拉出。另外,默认情况下,notebook
不是 manipulation
的安装要求,但对于那些像我一样想要学习机器人操作课程的人,请确保将其添加到所需软件包列表中。