legged_gym-rookie-

The initial reason for creating this repository was because I was a rookie and had a lot of problems learning to configure the environment. Therefore, I hope that through this can you.

Enviromental requirement

Ubuntu=20.04
python 3.6 3.7 3.8(recommend)
pytorch=1.13.1
Cuda=11.7

Isaac Gym Environments for Legged Robots

1、Installation

1、Create a new python virtual env with python 3.8（Ensure you have installed Anaconda successfully)

conda create -n <env name> python=3.8

2、Install pytorch 1.13.1 with cuda 11.7(GPU only):

conda activate <env name>
conda install pytorch==1.13.1 torchvision==0.14.1 torchaudio==0.13.1 pytorch-cuda=11.7 -c pytorch -c nvidia

3、Make sure you have installed successfully in your bash:

python
import torch
print(torch.__version__)
print(torch.cuda.is_available())

If the output is true, the installation was successful.

4、Install Isaac Gym

Download and install Isaac Gym Preview4 from https://developer.nvidia.com/isaac-gym/download

cd isaacgym/python&&pip install -e .

test through a demo:cd examples%%python joint_monkey.py

If you have problems with this step, please refer to this documentation