160 lines
3.0 KiB
Markdown
160 lines
3.0 KiB
Markdown
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# 安装配置文档
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## 系统要求
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- **操作系统**：推荐使用 Ubuntu 18.04 或更高版本
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- **显卡**：Nvidia 显卡
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- **驱动版本**：建议使用 525 或更高版本
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---
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## 1. 创建虚拟环境
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建议在虚拟环境中运行训练或部署程序，推荐使用 Conda 创建虚拟环境。如果您的系统中已经安装了 Conda，可以跳过步骤 1.1。
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### 1.1 下载并安装 MiniConda
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MiniConda 是 Conda 的轻量级发行版，适用于创建和管理虚拟环境。使用以下命令下载并安装：
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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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安装完成后，初始化 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 创建新环境
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使用以下命令创建虚拟环境：
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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 激活虚拟环境
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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. 安装依赖
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### 2.1 安装 PyTorch
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PyTorch 是一个神经网络计算框架，用于模型训练和推理。使用以下命令安装：
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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 安装 Isaac Gym
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Isaac Gym 是 Nvidia 提供的刚体仿真和训练框架。
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#### 2.2.1 下载
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从 Nvidia 官网下载 [Isaac Gym](https://developer.nvidia.com/isaac-gym)。
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#### 2.2.2 安装
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解压后进入 `isaacgym/python` 文件夹，执行以下命令安装：
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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 验证安装
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运行以下命令，若弹出窗口并显示 1080 个球下落，则安装成功：
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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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如有问题，可参考 `isaacgym/docs/index.html` 中的官方文档。
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### 2.3 安装 rsl_rl
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`rsl_rl` 是一个强化学习算法库。
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#### 2.3.1 下载
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通过 Git 克隆仓库：
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```bash
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git clone https://github.com/leggedrobotics/rsl_rl.git
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```
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#### 2.3.2 切换分支
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切换到 v1.0.2 分支：
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```bash
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cd rsl_rl
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git checkout v1.0.2
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```
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#### 2.3.3 安装
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```bash
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pip install -e .
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```
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### 2.4 安装 unitree_rl_gym
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#### 2.4.1 下载
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通过 Git 克隆仓库：
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```bash
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git clone https://github.com/unitreerobotics/unitree_rl_gym.git
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```
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#### 2.4.2 安装
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进入目录并安装：
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```bash
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cd unitree_rl_gym
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pip install -e .
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```
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### 2.5 安装 unitree_sdk2py（可选）
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`unitree_sdk2py` 是用于与真实机器人通信的库。如果需要将训练的模型部署到物理机器人上运行，可以安装此库。
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#### 2.5.1 下载
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通过 Git 克隆仓库：
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```bash
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git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
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```
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#### 2.5.2 安装
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进入目录并安装：
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```bash
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cd unitree_sdk2_python
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pip install -e .
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```
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---
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## 总结
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按照上述步骤完成后，您已经准备好在虚拟环境中运行相关程序。若遇到问题，请参考各组件的官方文档或检查依赖安装是否正确。
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