drake - drake build 和 "from pydrake.all import"的问题

Question

我在使用 from pydrake.all import (MathematicalProgram, Polynomial) 时遇到问题从源代码构建 drake 之后(引用 https://drake.mit.edu/python_bindings.html)。根据上一个链接，安装步骤是:

git clone https://github.com/RobotLocomotion/drake.git
mkdir drake-build
cd drake-build
cmake ../drake -DWITH_MOSEK=ON
make -j
cd drake-build
export PYTHONPATH=${PWD}/install/lib/python3.6/site-packages:${PYTHONPATH}

安装运行后 from pydrake.all import (MathematicalProgram, Polynomial)我收到以下错误:

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "$HOME/drake-build/install/lib/python3.6/site-packages/pydrake/all.py", line 34, in <module>
    from .perception import *
ImportError: ImportError: $HOME/drake-build/install/lib/python3.6/site-packages/pydrake/systems/framework.so: undefined symbol: _ZNK5drake7systems6SystemIdE19DoCheckValidContextERKNS0_11ContextBaseE

如果我使用每晚构建的二进制文件(而不是从源代码构建)，我不会收到此错误，但是我在每晚构建的二进制文件中遇到了单独的问题，并且想要依赖从 git 构建。
使用 Ubuntu 18.04，Python3.6。

Answer 1

您是否尝试过设置 PYTHONPATH 环境变量？你可以做

cd drake-build
export PYTHONPATH=${PWD}/install/lib/python3.6/site-packages:${PYTHONPATH}

如 https://drake.mit.edu/python_bindings.html#building-the-python-bindings 中所述