Legged_gym-Installation

Last update 2023.12.29 by Daegeol Ko, UNIST

Before you start, you have to check install Anaconda and Graphic Driver

code by https://github.com/leggedrobotics/legged_gym

code by https://github.com/Improbable-AI/walk-these-ways

1. Install basic environment

1. make conda environmnet to execute legged gym with python 3.8

conda create -n <env_name> python=3.8

in here, for example, <env_name> is ‘legged_gym’. You can type only some name

2. install pytorch and cuda version in conda environment

pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html

if you have any problem with cuda and pytorch, you have to set these for your graphic card

2. Install Isaac gym

1. Install Isaac gym

a. Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym

b. click join now button. Then you have to sign in. after log in, click agree button and download it.

Click Member area and agree it.

c. lastly, extract it at Home

2. execute Isaac gym

a. open terminal,and directory is Home

cd isaacgym/python && pip install -e .
cd examples && python 1080_balls_of_solitude.py

In this step, you have to meet

ModuleNotFoundError: No module named 'isaacgym'

without this error, you must have problem with graphic driver error.

So, when you meet other error, you have to type

nvidia-smi

and check output is right.

b. Solving ModuleNotFoundError: No module named 'isaacgym'

you have to

pip install gym 

twice. In Home dir and isaac gym dir.

this error be occured, because Isaacgym creator makes it run at python version 3.11. so we have to change it for our conda python version. So, we install it home and solving crash.

3. Install rsl_rl (PPO implementation)

It has problem when they update rsl_rl version 1.2.0 → 2.0.0.

So, now we just use rsl_rl 1.2.0 in this Repository

git clone https://github.com/Lab-of-AI-and-Robotics/Legged_gym-Installation
cd rsl_rl && git checkout v1.0.2 && pip install -e .

if you meet error that there is no git, then

pip install git

1. Install legged_gym

git clone https://github.com/leggedrobotics/legged_gym
cd legged_gym && pip install -e .

2. identify execute

in home directory,

cd legged_gym
python legged_gym/scripts/train.py –task=anymal_c_flat

then you have to meet many error. Below is manual that can solve errors.

3. AttributeError: module 'numpy' has no attribute 'float'.

setup numpy version with your python version.
pip install numpy==1.23.0

4. ModuleNotFoundError: No module named 'tensorboard'

pip install tensorboard

5. AttributeError: module 'distutils' has no attribute 'version'

pip install setuptools=59.5.0

4. walk-these-ways

this is advanced from legged_gym

at home,

git clone https://github.com/Improbable-AI/walk-these-ways
cd walk-these-ways
pip install -e .