Isaac Gym+legged gym（Ubuntu20.04）

用的是anaconda，不要用pip命令，用conda命令。

1.先配置环境

用下列命令查看显卡驱动和CUDA版本

nvidia-smi

然后下载IsaacGym_Preview_4_Package.tar.gz，然后根据以下命令进行配置：

conda activate isaacgym
cd isaacgym/python
pip install -e .
cd ..(返回isaacgym)
cd examples
python 1080_balls_of_solitude.py//例程

报错ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or dire参考解决安装IsaacGym报错ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or dire-CSDN博客

2.装legged_gym(推荐用python3.8，pytorch1.10以上)

先进入issacgym文件夹

2.1 Install rsl_rl (PPO implementation) 2.2版本的不能用
 

git clone https://github.com/leggedrobotics/rsl_rl
cd rsl_rl && git checkout v1.0.2 && pip install -e .

2.2 Install legged_gym

git clone https://github.com/leggedrobotics/legged_gym
cd legged_gym && pip install -e .

2.3 运行示例

python legged_gym/scripts/train.py --task=anymal_c_flat
python legged_gym/scripts/train.py --task=anymal_c_flat --sim_device=cpu --rl_device=cpu（用cpu）

可能的报错：

1.AttributeError: module 'numpy' has no attribute 'float'.`np.float` was a deprecated alias for the builtin `float`.

解决：

pip uninstall numpy
pip install numpy==1.19.5（降级版本）
pip install matplotlib==3.6.3  

2.没按xxx包：ModuleNotFoundError: No module named 'tensorboard'

pip install [packname]

参考：legged gym（包含isaac gym）丝滑安装教程_legged gym安装-CSDN博客

顺便说一下参考readme，改参数在config文件