Installation Instruction

This document provides the instructions on codebase installation. We recommend using Anaconda to simplify the process.

Create a Conda Enviroment

conda create -n humanup python=3.8
conda activate humanup
pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118

IsaacGym

Download IsaacGym Preview 4.0 from Google Drive, then install it by running

cd isaacgym/python && pip install -e .

Note: NVIDIA preserves all rights of IsaacGym. After installing IsaacGym, please make sure it is working by running,

# this example can only be ran with a monitor 
python examples/joint_monkey.py

RSL RL

Install rsl_rl by running

cd ../../rsl_rl && pip install -e .

Legged Gym and Other

Install legged_gym and other dependencies

cd ../legged_gym && pip install -e .
pip install "numpy==1.23.0" pydelatin wandb tqdm opencv-python pymeshlab ipdb pyfqmr flask dill gdown hydra-core mujoco mujoco-python-viewer loguru
pip install -r requirements.txt
pip install imageio[ffmpeg]

If you cannot install imageio[ffmpeg], please run

pip install imageio imageio-ffmpeg

Next, please follow the running instruction to test a running.