160 lines
3.5 KiB
Markdown
160 lines
3.5 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 Download
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Clone the repository using Git:
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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 Switch Branch
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Switch to the v1.0.2 branch:
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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 Install
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```bash
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pip install -e .
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```
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### 2.4 Install unitree_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/unitree_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 unitree_rl_gym
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pip install -e .
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```
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### 2.5 Install unitree_sdk2py (Optional)
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`unitree_sdk2py` is a library used for communication with real robots. If you need to deploy the trained model on a physical robot, install this library.
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#### 2.5.1 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/unitree_sdk2_python.git
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```
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#### 2.5.2 Install
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Navigate to the directory and install it:
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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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## Summary
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After completing the above steps, you are ready to run the related programs in the virtual environment. If you encounter any issues, refer to the official documentation of each component or check if the dependencies are installed correctly.
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