120 lines
2.8 KiB
Markdown
120 lines
2.8 KiB
Markdown
# Installation Guide
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## System Requirements
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- **Operating System**: Recommended Ubuntu 18.04 or later
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- **GPU**: Nvidia GPU
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- **Driver Version**: Recommended version 525 or later
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---
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## 1. Creating a Virtual Environment
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It is recommended to run training or deployment programs in a virtual environment. Conda is recommended for creating virtual environments. If Conda is already installed on your system, you can skip step 1.1.
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### 1.1 Download and Install MiniConda
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MiniConda is a lightweight distribution of Conda, suitable for creating and managing virtual environments. Use the following commands to download and install:
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```bash
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mkdir -p ~/miniconda3
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wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
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bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
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rm ~/miniconda3/miniconda.sh
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```
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After installation, initialize Conda:
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```bash
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~/miniconda3/bin/conda init --all
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source ~/.bashrc
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```
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### 1.2 Create a New Environment
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Use the following command to create a virtual environment:
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```bash
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conda create -n unitree-rl python=3.8
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```
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### 1.3 Activate the Virtual Environment
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```bash
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conda activate unitree-rl
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```
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---
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## 2. Installing Dependencies
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### 2.1 Install PyTorch
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PyTorch is a neural network computation framework used for model training and inference. Install it using the following command:
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```bash
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conda install pytorch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 pytorch-cuda=12.1 -c pytorch -c nvidia
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```
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### 2.2 Install Isaac Gym
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Isaac Gym is a rigid body simulation and training framework provided by Nvidia.
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#### 2.2.1 Download
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Download [Isaac Gym](https://developer.nvidia.com/isaac-gym) from Nvidia’s official website.
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#### 2.2.2 Install
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After extracting the package, navigate to the `isaacgym/python` folder and install it using the following commands:
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```bash
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cd isaacgym/python
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pip install -e .
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```
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#### 2.2.3 Verify Installation
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Run the following command. If a window opens displaying 1080 balls falling, the installation was successful:
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```bash
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cd examples
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python 1080_balls_of_solitude.py
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```
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If you encounter any issues, refer to the official documentation at `isaacgym/docs/index.html`.
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### 2.3 Install rsl_rl
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`rsl_rl` is a library implementing reinforcement learning algorithms.
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#### 2.3.1 Install
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```bash
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cd rsl_rl
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pip install -e .
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```
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### 2.4 Install go2_rl_gym
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#### 2.4.1 Download
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Clone the repository using Git:
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```bash
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git clone https://github.com/unitreerobotics/go2_rl_gym.git
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```
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#### 2.4.2 Install
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Navigate to the directory and install it:
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```bash
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cd go2_rl_gym
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pip install -e .
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```
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### 2.5 Install unitree_cpp_deploy (Optional)
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Refer to our C++ deployment repository, which is based on unitree_rl_lab and specifically designed for deploying models trained in this repository: [unitree_cpp_deploy](https://github.com/wty-yy-mini/unitree_cpp_deploy).
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