In this document, we provide instructions of how to properly install this codebase. We highly recommend using a conda environment to simplify set up.
You can skip this section if you are not using conda virtual environment.
Note: pytorch will be installed together with IsaacGym (please refer to pytorch). There are certain compatibility requirement for IsaacGym.
conda create -y -n penspin python=3.8
conda activate penspin
conda install -c conda-forge urllib3
conda install pytorch torchvision torchaudio pytorch-cuda=12.1 -c pytorch -c nvidia
pip install -r gdown hydra-core termcolor gym tensorboardX trimesh numpy==1.22.4 wandb
git clone https://github.com/HaozhiQi/penspin
cd penspin
pip install -r requirements.txt
Download IsaacGym Preview 4.0 (Download), then follow the installation instructions in the documentation. We provide the bash commands what we did during development.
You can also download from our google drive by
gdown 1StaRl_hzYFYbJegQcyT7-yjgutc6C7F9 -O ISAAC_PATH
cd ISAAC_PATH
tar -xzvf IsaacGym_Preview_4_Package.tar.gz
cd isaacgym/python
pip install -e .