{"id":40580,"date":"2025-05-29T12:51:30","date_gmt":"2025-05-29T04:51:30","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/40580.html"},"modified":"2025-05-29T12:51:30","modified_gmt":"2025-05-29T04:51:30","slug":"%e3%80%90%e5%a6%82%e4%bd%95%e8%bf%9c%e7%a8%8b%e5%9c%a8%e6%97%a0%e5%9b%be%e5%bd%a2%e7%95%8c%e9%9d%a2%e7%9a%84%e6%9c%8d%e5%8a%a1%e5%99%a8%e4%b8%8a%e9%80%9a%e8%bf%87-x11-%e8%bd%ac%e5%8f%91%e6%b8%b2","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/40580.html","title":{"rendered":"\u3010\u5982\u4f55\u8fdc\u7a0b\u5728\u65e0\u56fe\u5f62\u754c\u9762\u7684\u670d\u52a1\u5668\u4e0a\u901a\u8fc7 X11 \u8f6c\u53d1\u6e32\u67d3\u56fe\u5f62\u3011"},"content":{"rendered":"<h2>\u5982\u4f55\u8fdc\u7a0b\u5728\u65e0\u56fe\u5f62\u754c\u9762\u7684\u670d\u52a1\u5668\u4e0a\u901a\u8fc7 X11 \u8f6c\u53d1\u6e32\u67d3\u56fe\u5f62<\/h2>\n<p>\u5728\u6ca1\u6709\u56fe\u5f62\u754c\u9762\u7684\u670d\u52a1\u5668\u4e0a\u8fdb\u884c\u56fe\u5f62\u6e32\u67d3\u65f6&#xff0c;\u901a\u8fc7 X11 \u8f6c\u53d1\u53ef\u4ee5\u5c06\u8fdc\u7a0b\u670d\u52a1\u5668\u7684\u56fe\u5f62\u754c\u9762\u6e32\u67d3\u5230\u672c\u5730\u673a\u5668\u4e0a\u3002\u672c\u6587\u5c06\u4ecb\u7ecd\u5982\u4f55\u901a\u8fc7\u914d\u7f6e X11 \u8f6c\u53d1&#xff0c;\u5728 PyCharm \u4e2d\u8fd0\u884c\u8fdc\u7a0b\u4ee3\u7801\u5e76\u901a\u8fc7\u672c\u5730\u663e\u793a\u6e32\u67d3\u7ed3\u679c\u3002<\/p>\n<h3>\u8bbe\u5907\u8981\u6c42<\/h3>\n<li>\u8fdc\u7a0b\u670d\u52a1\u5668&#xff1a; \u914d\u7f6e\u4e86 NVIDIA GPU \u548c\u6b63\u786e\u7684 OpenGL \u9a71\u52a8\u3002<\/li>\n<li>\u672c\u5730\u673a\u5668&#xff1a; \u652f\u6301 X11 \u8f6c\u53d1\u7684\u64cd\u4f5c\u7cfb\u7edf&#xff08;\u5982 Windows\u3001Linux&#xff09;\u3002<\/li>\n<li>PyCharm&#xff1a; \u7528\u4e8e\u8fdc\u7a0b\u5f00\u53d1\u7684\u96c6\u6210\u5f00\u53d1\u73af\u5883&#xff08;IDE&#xff09;\u3002<\/li>\n<h3>\u6b65\u9aa4\u6982\u89c8<\/h3>\n<li>\u5728 Windows \u4e3b\u673a\u4e0a\u5b89\u88c5 VcXsrv\u3002<\/li>\n<li>\u5f00\u542fWindows\u9632\u706b\u5899\u3001\u83b7\u53d6IP\u5730\u5740\u3002<\/li>\n<li>\u914d\u7f6e\u8fdc\u7a0b\u670d\u52a1\u5668\u652f\u6301 X11 \u8f6c\u53d1\u3002<\/li>\n<li>\u8bbe\u7f6e DISPLAY \u73af\u5883\u53d8\u91cf&#xff0c;\u6307\u5411\u672c\u5730\u673a\u5668\u7801\u3002<\/li>\n<li>\u8fd0\u884c\u6e32\u67d3<\/li>\n<h3>1. \u5728 Windows \u4e3b\u673a\u4e0a\u5b89\u88c5 VcXsrv<\/h3>\n<h4>1.1 \u4e0b\u8f7d\u5e76\u5b89\u88c5 VcXsrv<\/h4>\n<p>\u4e0b\u8f7d\u5730\u5740&#xff1a;https:\/\/sourceforge.net\/projects\/vcxsrv\/ <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045127-6837e7cf94c23.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u70b9\u51fbDownload\u5373\u53ef\u4e0b\u8f7d<\/p>\n<h4>1.2 VcXsrv\u5b89\u88c5<\/h4>\n<p>\u8fd9\u91cc\u52fe\u9009\u684c\u9762\u5feb\u6377\u65b9\u5f0f&#xff0c;\u65b9\u4fbf\u4f7f\u7528\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045128-6837e7d094fff.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u8fd9\u91cc\u9009\u7740\u4e00\u4e2a\u5b89\u88c5\u6587\u4ef6&#xff0c;\u70b9\u51fbinstall\u5b89\u88c5\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045128-6837e7d0ad292.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>1.3 \u8fd0\u884c XLaunch<\/h4>\n<p>\u5b89\u88c5\u597dVcXsrv\u4e4b\u540e&#xff0c;\u684c\u9762\u4f1a\u6709\u4e00\u4e2aXLaunch\u7684\u56fe\u6807&#xff0c;\u53cc\u51fb\u6253\u5f00\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045128-6837e7d0c0cae.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6253\u5f00\u4e4b\u540e&#xff0c;\u51fa\u73b0Display settings\u7684\u754c\u9762&#xff0c;\u8fd9\u662f\u4e00\u4e2ax11 server\u914d\u7f6e\u7684\u8bbe\u7f6e\u3002\u8fd9\u91cc\u7684Display number\u9009\u7740\u9ed8\u8ba4\u7684-1\u5c31\u884c&#xff0c;\u8fd9\u662f\u628aserver\u7aef\u53e3\u53f7\u8bbe\u7f6e\u4e3a0.0\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045128-6837e7d0d4e7b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u63a5\u4e0b\u6765\u76f4\u63a5\u4e0b\u4e00\u9875\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045128-6837e7d0ec6f2.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u8fd9\u91cc\u9700\u8981\u52fe\u9009\u7b2c\u4e09\u4e2aDisable access control\u3002\u8fd9\u4e2a\u610f\u601d\u662f\u63a5\u53d7\u6240\u6709x11\u7684\u8f6c\u53d1\u8bf7\u6c42&#xff0c;\u8fd9\u91cc\u770b\u4e2a\u4eba\u60c5\u51b5&#xff0c;\u6709\u4e9b\u8bbe\u5907\u4e0d\u52fe\u9009\u4e5f\u80fd\u6536\u5230&#xff0c;\u672c\u4eba\u6d4b\u8bd5\u81ea\u5df1\u7684\u8bbe\u5907\u4e0d\u52fe\u9009\u63a5\u6536\u4e0d\u5230&#xff0c;\u6240\u4ee5\u5efa\u8bae\u52fe\u9009\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045129-6837e7d110788.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6700\u540e\u76f4\u63a5\u5b8c\u6210\u5373\u53ef\u5f00\u542fX server\u670d\u52a1&#xff0c;\u7535\u8111\u53f3\u4e0b\u89d2\u4f1a\u51fa\u73b0XLaunch\u7684\u56fe\u6807&#xff0c;\u9f20\u6807\u653e\u4e0a\u9762\u4f1a\u663e\u793a\u7aef\u53e3\u53f7\u3002\u5982\u4e0b\u56fe\u6240\u793a&#xff0c;\u8bf4\u660eX server\u6210\u529f\u5f00\u542f\u4e86\u3002Save configuration\u662f\u4fdd\u5b58\u5f53\u524d\u7684\u914d\u7f6e&#xff0c;\u4e0b\u6b21\u5f00\u542f\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528\u4fdd\u5b58\u7684\u9009\u9879\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045129-6837e7d1265a0.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045129-6837e7d13c2e1.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> VcXsrv\u5b89\u88c5\u3001\u914d\u7f6e\u5b8c\u6210\u3002&#xff08;\u53c2\u8003\u535a\u5ba2&#xff1a;https:\/\/blog.csdn.net\/qq_39446635\/article\/details\/132466146&#xff09;<\/p>\n<h3>2. \u5f00\u542fWindows\u9632\u706b\u5899\u3001\u83b7\u53d6IP\u5730\u5740<\/h3>\n<h4>2.1 \u5f53 Windows \u9632\u706b\u5899\u5f39\u51fa\u63d0\u793a\u65f6&#xff0c;\u5141\u8bb8 VcXsrv \u8bbf\u95ee\u6240\u6709\u7f51\u7edc\u3002<\/h4>\n<p>\u5982\u679c\u6ca1\u6709\u5f39\u51fa\u63d0\u793a&#xff0c;\u624b\u52a8\u6253\u5f00&#xff1a; \u63a7\u5236\u9762\u677f -&gt; Windows Defender \u9632\u706b\u5899 -&gt; \u5141\u8bb8\u7684\u5e94\u7528 \u627e\u5230 VcXsrv windows xserver&#xff0c;\u52fe\u9009 \u516c\u7528\u548c\u4e13\u7528\u7f51\u7edc <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045129-6837e7d14ff4f.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>2.2 \u83b7\u53d6IP\u5730\u5740<\/h4>\n<p>\u63a7\u5236\u884cipconfig\u83b7\u53d6Windows\u83b7\u53d6IP\u5730\u5740&#xff0c;\u5047\u8bbe\u662f&#xff1a;192.168.1.100\u3002<\/p>\n<h4>2.3 \u68c0\u67e5 X Server \u662f\u5426\u542f\u52a8<\/h4>\n<p>\u4efb\u52a1\u680f\u53f3\u4e0b\u89d2\u5e94\u8be5\u6709\u4e00\u4e2a X \u56fe\u6807<\/p>\n<p>\u8fd0\u884c PowerShell&#xff0c;\u8f93\u5165&#xff1a;<\/p>\n<p><span class=\"token function\">netstat<\/span> -an <span class=\"token operator\">|<\/span> findstr <span class=\"token number\">6000<\/span><\/p>\n<p>\u5982\u679c\u8f93\u51fa\u5305\u542b0.0.0.0:6000&#xff0c;\u8bf4\u660e X Server \u6b63\u5728\u8fd0\u884c\u3002<\/p>\n<h3>3. \u914d\u7f6e\u8fdc\u7a0b\u670d\u52a1\u5668\u652f\u6301 X11 \u8f6c\u53d1<\/h3>\n<p>\u9996\u5148&#xff0c;\u9700\u8981\u786e\u4fdd\u8fdc\u7a0b\u670d\u52a1\u5668\u652f\u6301 X11 \u8f6c\u53d1\u3002<\/p>\n<h4>3.1 \u5b89\u88c5\u5fc5\u8981\u7684\u5305<\/h4>\n<p>\u5b89\u88c5 xauth \u548c x11-utils<\/p>\n<p><span class=\"token function\">sudo<\/span> <span class=\"token function\">apt<\/span> update<br \/>\n<span class=\"token function\">sudo<\/span> <span class=\"token function\">apt<\/span> <span class=\"token function\">install<\/span> -y xauth x11-utils<\/p>\n<p>\u5728\u8fdc\u7a0b\u670d\u52a1\u5668\u4e0a\u5b89\u88c5 mesa-utils&#xff0c;\u5b83\u4eec\u7528\u4e8e\u652f\u6301\u56fe\u5f62\u6e32\u67d3&#xff1a;<\/p>\n<p><span class=\"token function\">sudo<\/span> <span class=\"token function\">apt<\/span> update<br \/>\n<span class=\"token function\">sudo<\/span> <span class=\"token function\">apt<\/span> <span class=\"token function\">install<\/span> mesa-utils<\/p>\n<p>\u914d\u7f6e\u73af\u5883\u53d8\u91cf \u5728\u670d\u52a1\u5668\u7ec8\u7aef\u8fd0\u884c&#xff1a;<\/p>\n<p><span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\"><span class=\"token environment constant\">DISPLAY<\/span><\/span><span class=\"token operator\">&#061;<\/span><span class=\"token number\">10.12<\/span>.190.136:0.0  <span class=\"token comment\"># \u8bbe\u7f6e Windows IP \u4f5c\u4e3a X11 \u76ee\u6807<\/span><br \/>\n<span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\">LIBGL_ALWAYS_INDIRECT<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token number\">1<\/span>     <span class=\"token comment\"># \u8ba9 OpenGL \u8d70 X11<\/span><br \/>\n<span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\">MESA_GL_VERSION_OVERRIDE<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token number\">3.3<\/span> <span class=\"token comment\">#\u5f3a\u5236\u6307\u5b9a OpenGL \u7684\u7248\u672c&#xff08;\u6839\u636e\u5177\u4f53\u60c5\u51b5\u914d\u7f6e&#xff0c;\u6216\u8005\u4e0d\u914d\u7f6e\u9ed8\u8ba4&#xff09;<\/span><\/p>\n<h4>3.2 \u6d4b\u8bd5 X11 \u662f\u5426\u6b63\u5e38<\/h4>\n<p>\u5728\u670d\u52a1\u5668\u4e0a\u8fd0\u884c&#xff1a;<\/p>\n<p>xeyes<\/p>\n<p>\u5982\u679c Windows \u4e0a\u5f39\u51fa\u4e00\u4e2a \u773c\u775b\u8ddf\u968f\u9f20\u6807\u7684\u7a97\u53e3&#xff0c;\u8bf4\u660e X11 \u914d\u7f6e\u6210\u529f\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045129-6837e7d199352.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u7136\u540e\u518d\u8fd0\u884c&#xff1a;<\/p>\n<p>glxgears<\/p>\n<p>\u5982\u679c\u51fa\u73b0 \u65cb\u8f6c\u7684 3D \u9f7f\u8f6e&#xff0c;\u8bf4\u660e OpenGL \u4e5f\u6b63\u5e38\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045129-6837e7d1a4d3f.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>4 \u8bbe\u7f6e DISPLAY \u73af\u5883\u53d8\u91cf&#xff0c;\u6307\u5411\u672c\u5730\u673a\u5668<\/h2>\n<p>\u5728\u4ee3\u7801\u6587\u4ef6\u91cc\u9762\u52a0\u5165\u4ee5\u4e0b\u5185\u5bb9&#xff1a;<\/p>\n<p>os.environ<span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;DISPLAY&#034;<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;xxx&#034;<\/span>  <span class=\"token comment\"># \u5c06\u8fd9\u91cc\u7684 IP \u5730\u5740\u66ff\u6362\u4e3a\u4f60\u672c\u5730\u673a\u5668\u7684 IP<\/span><\/p>\n<p>\u5728\u670d\u52a1\u5668\u4e0a\u6267\u884cecho $DISPLAY \/\/\u83b7\u53d6\u53c2\u6570\u4fe1\u606f\u83b7\u53d6IP\u5730\u5740&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/05\/20250529045129-6837e7d1bd18e.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>5 \u8fd0\u884c\u6e32\u67d3<\/h2>\n<p><span class=\"token function\">import<\/span> gymnasium as gym<br \/>\n<span class=\"token function\">import<\/span> mani_skill.envs<\/p>\n<p><span class=\"token function\">env<\/span> <span class=\"token operator\">&#061;<\/span> gym.make<span class=\"token punctuation\">(<\/span><br \/>\n    <span class=\"token string\">&#034;PickCube-v1&#034;<\/span>,<br \/>\n    <span class=\"token assign-left variable\">num_envs<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token number\">1<\/span>,<br \/>\n    <span class=\"token assign-left variable\">obs_mode<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;state&#034;<\/span>,<br \/>\n    <span class=\"token assign-left variable\">control_mode<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;pd_ee_delta_pose&#034;<\/span>,<br \/>\n    <span class=\"token assign-left variable\">render_mode<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;human&#034;<\/span><br \/>\n<span class=\"token punctuation\">)<\/span><\/p>\n<p>print<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Observation space&#034;<\/span>, env.observation_space<span class=\"token punctuation\">)<\/span><br \/>\nprint<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Action space&#034;<\/span>, env.action_space<span class=\"token punctuation\">)<\/span><\/p>\n<p>obs, _ <span class=\"token operator\">&#061;<\/span> env.reset<span class=\"token punctuation\">(<\/span>seed<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">done<\/span> <span class=\"token operator\">&#061;<\/span> False<br \/>\n<span class=\"token keyword\">while<\/span> not done:<br \/>\n    action <span class=\"token operator\">&#061;<\/span> env.action_space.sample<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    obs, reward, terminated, truncated, info <span class=\"token operator\">&#061;<\/span> env.step<span class=\"token punctuation\">(<\/span>action<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">done<\/span> <span class=\"token operator\">&#061;<\/span> terminated or truncated<br \/>\n    env.render<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span>  <span class=\"token comment\"># \u6e32\u67d3\u5e76\u663e\u793a\u56fe\u5f62<\/span><br \/>\nenv.close<span class=\"token punctuation\">(<\/span><span class=\"token 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