热门标签
当前位置: article > 正文
isaacgym和isaacsim仿真的安装，版本配置记录_ubuntu20.04安装isaac gym
作者：码创造者 | 2024-08-17 01:03:12
赞
踩
ubuntu20.04安装isaac gym
1. 基本环境描述，操作系统ubuntu 20.04 Focal Fossa，显卡是NVIDIA GeForce RTX 3090；
2. 软件环境描述，显卡驱动版本使用535；安装了anaconda；isaacgym的python版本为**；isaacsim的python版本为**；
3. 分别按照指引安装了isaacsim和isaacgym的仿真器；
isaacsim：
isaacgym:Isaac Gym - Preview Release | NVIDIA Developer
https://developer.nvidia.com/isaac-gym
4.安装配置Env软件包
isaacsim: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs
isaacgym:https://github.com/NVIDIA-Omniverse/IsaacGymEnvs
软件包安装对pytorch有版本要求，pytorh对CUDA版本有要求，对python的版本也有要求，其对应关系在如下网站查找，有时会出现冲突，最直接的方法是参照环境已配置成功的主机进行版本选择CUDA版本。
Previous PyTorch Versions | PyTorch
------------------------------------------------------------------------------------------------------------------
查看显卡驱动版本
nvidia-smi
查看cuda版本，cuda版本不应该高于nvidia-smi中的CUDA Version
自动安装将会使用自动创建rlgpu的虚拟环境，可以手动创建虚拟环境，pip安装需要的软件包。
isaacgym env
conda activate rlgpuconda deactivatepip list- Package Version Editable project location
- ------------------------ --------------- ------------------------------------
- absl-py 1.3.0
- aiohttp 3.8.3
- aiosignal 1.2.0
- antlr4-python3-runtime 4.9.3
- async-timeout 4.0.2
- asynctest 0.13.0
- attrs 22.1.0
- blinker 1.4
- brotlipy 0.7.0
- cachetools 4.2.2
- certifi 2022.12.7
- cffi 1.15.1
- charset-normalizer 2.0.4
- click 8.0.4
- cloudpickle 2.2.1
- cryptography 39.0.1
- decorator 5.1.1
- docker-pycreds 0.4.0
- flit_core 3.6.0
- freetype-py 2.4.0
- frozenlist 1.3.3
- gitdb 4.0.11
- GitPython 3.1.40
- google-auth 1.33.0
- google-auth-oauthlib 0.4.4
- grpcio 1.42.0
- gym 0.23.1
- gym-notices 0.0.8
- Hydra 2.5
- hydra-core 1.3.2
- idna 3.4
- imageio 2.31.2
- importlib-metadata 4.11.3
- importlib-resources 5.12.0
- isaacgym 1.0rc4 /home/zhhw/Downloads/isaacgym/python
- isaacgymenvs 1.5.1 /home/zhhw/github/IsaacGymEnvs
- Jinja2 3.1.2
- lxml 4.9.4
- Markdown 3.4.1
- MarkupSafe 2.1.1
- mkl-fft 1.3.0
- mkl-random 1.1.1
- mkl-service 2.3.0
- multidict 6.0.2
- networkx 2.2
- ninja 1.11.1.1
- numpy 1.21.6
- nvidia-cublas-cu11 11.10.3.66
- nvidia-cuda-nvrtc-cu11 11.7.99
- nvidia-cuda-runtime-cu11 11.7.99
- nvidia-cudnn-cu11 8.5.0.96
- oauthlib 3.2.1
- omegaconf 2.3.0
- opencv-python 4.8.1.78
- packaging 23.2
- pathtools 0.1.2
- Pillow 9.3.0
- pip 22.3.1
- promise 2.3
- protobuf 3.20.3
- psutil 5.9.7
- pyasn1 0.4.8
- pyasn1-modules 0.2.8
- pycollada 0.6
- pycparser 2.21
- pyglet 2.0.10
- PyJWT 2.4.0
- PyOpenGL 3.1.0
- pyOpenSSL 23.0.0
- pyrender 0.1.45
- pysdf 0.1.9
- PySocks 1.7.1
- python-dateutil 2.8.2
- PyVirtualDisplay 3.0
- PyYAML 6.0.1
- requests 2.28.1
- requests-oauthlib 1.3.0
- rl-games 1.6.1
- rsa 4.7.2
- scipy 1.5.0
- sentry-sdk 1.39.1
- setproctitle 1.3.3
- setuptools 65.6.3
- shortuuid 1.0.11
- six 1.16.0
- smmap 5.0.1
- tensorboard 2.11.2
- tensorboard-data-server 0.6.1
- tensorboard-plugin-wit 1.8.1
- tensorboardX 2.6.2.2
- termcolor 2.3.0
- torch 1.13.1
- torchaudio 0.7.0a0+a853dff
- torchvision 0.14.1
- trimesh 3.23.5
- typing_extensions 4.4.0
- urdfpy 0.0.22
- urllib3 1.26.14
- wandb 0.12.21
- warp-lang 0.10.1
- Werkzeug 2.2.2
- wheel 0.38.4
- yarl 1.8.1
- zipp 3.11.0
退出虚拟环境，此处是isaac sim的软件包版本配置
pip list- Package Version
- ----------------------------- ---------------
- aiobotocore 2.5.0
- aiofiles 22.1.0
- aiohttp 3.8.5
- aioitertools 0.7.1
- aiosignal 1.2.0
- aiosqlite 0.18.0
- alabaster 0.7.12
- anaconda-anon-usage 0.4.2
- anaconda-catalogs 0.2.0
- anaconda-client 1.12.1
- anaconda-cloud-auth 0.1.3
- anaconda-navigator 2.5.0
- anaconda-project 0.11.1
- anyio 3.5.0
- appdirs 1.4.4
- argon2-cffi 21.3.0
- argon2-cffi-bindings 21.2.0
- arrow 1.2.3
- astroid 2.14.2
- astropy 5.1
- asttokens 2.0.5
- async-timeout 4.0.2
- atomicwrites 1.4.0
- attrs 22.1.0
- Automat 20.2.0
- autopep8 1.6.0
- Babel 2.11.0
- backcall 0.2.0
- backports.functools-lru-cache 1.6.4
- backports.tempfile 1.0
- backports.weakref 1.0.post1
- bcrypt 3.2.0
- beautifulsoup4 4.12.2
- binaryornot 0.4.4
- black 0.0
- bleach 4.1.0
- bokeh 3.2.1
- boltons 23.0.0
- botocore 1.29.76
- Bottleneck 1.3.5
- brotlipy 0.7.0
- certifi 2023.7.22
- cffi 1.15.1
- chardet 4.0.0
- charset-normalizer 2.0.4
- click 8.0.4
- cloudpickle 2.2.1
- clyent 1.2.2
- colorama 0.4.6
- colorcet 3.0.1
- comm 0.1.2
- conda 23.7.4
- conda-build 3.26.1
- conda-content-trust 0.2.0
- conda_index 0.3.0
- conda-libmamba-solver 23.7.0
- conda-pack 0.6.0
- conda-package-handling 2.2.0
- conda_package_streaming 0.9.0
- conda-repo-cli 1.0.75
- conda-token 0.4.0
- conda-verify 3.4.2
- constantly 15.1.0
- contourpy 1.0.5
- cookiecutter 1.7.3
- cryptography 41.0.3
- cssselect 1.1.0
- cycler 0.11.0
- cytoolz 0.12.0
- daal4py 2023.1.1
- dask 2023.6.0
- datasets 2.12.0
- datashader 0.15.2
- datashape 0.5.4
- debugpy 1.6.7
- decorator 5.1.1
- defusedxml 0.7.1
- diff-match-patch 20200713
- dill 0.3.6
- distributed 2023.6.0
- docstring-to-markdown 0.11
- docutils 0.18.1
- entrypoints 0.4
- et-xmlfile 1.1.0
- executing 0.8.3
- fastjsonschema 2.16.2
- filelock 3.9.0
- flake8 6.0.0
- Flask 2.2.2
- fonttools 4.25.0
- frozenlist 1.3.3
- fsspec 2023.4.0
- future 0.18.3
- gensim 4.3.0
- glob2 0.7
- gmpy2 2.1.2
- greenlet 2.0.1
- h5py 3.9.0
- HeapDict 1.0.1
- holoviews 1.17.1
- huggingface-hub 0.15.1
- hvplot 0.8.4
- hyperlink 21.0.0
- idna 3.4
- imagecodecs 2023.1.23
- imageio 2.31.1
- imagesize 1.4.1
- imbalanced-learn 0.10.1
- importlib-metadata 6.0.0
- incremental 21.3.0
- inflection 0.5.1
- iniconfig 1.1.1
- intake 0.6.8
- intervaltree 3.1.0
- ipykernel 6.25.0
- ipython 8.15.0
- ipython-genutils 0.2.0
- ipywidgets 8.0.4
- isort 5.9.3
- itemadapter 0.3.0
- itemloaders 1.0.4
- itsdangerous 2.0.1
- jaraco.classes 3.2.1
- jedi 0.18.1
- jeepney 0.7.1
- jellyfish 1.0.1
- Jinja2 3.1.2
- jinja2-time 0.2.0
- jmespath 0.10.0
- joblib 1.2.0
- json5 0.9.6
- jsonpatch 1.32
- jsonpointer 2.1
- jsonschema 4.17.3
- jupyter 1.0.0
- jupyter_client 7.4.9
- jupyter-console 6.6.3
- jupyter_core 5.3.0
- jupyter-events 0.6.3
- jupyter-server 1.23.4
- jupyter_server_fileid 0.9.0
- jupyter_server_ydoc 0.8.0
- jupyter-ydoc 0.2.4
- jupyterlab 3.6.3
- jupyterlab-pygments 0.1.2
- jupyterlab_server 2.22.0
- jupyterlab-widgets 3.0.5
- kaleido 0.2.1
- keyring 23.13.1
- kiwisolver 1.4.4
- lazy_loader 0.2
- lazy-object-proxy 1.6.0
- libarchive-c 2.9
- libmambapy 1.5.1
- linkify-it-py 2.0.0
- llvmlite 0.40.0
- lmdb 1.4.1
- locket 1.0.0
- lxml 4.9.3
- lz4 4.3.2
- Markdown 3.4.1
- markdown-it-py 2.2.0
- MarkupSafe 2.1.1
- matplotlib 3.7.2
- matplotlib-inline 0.1.6
- mccabe 0.7.0
- mdit-py-plugins 0.3.0
- mdurl 0.1.0
- mistune 0.8.4
- mkl-fft 1.3.8
- mkl-random 1.2.4
- mkl-service 2.4.0
- more-itertools 8.12.0
- mpmath 1.3.0
- msgpack 1.0.3
- multidict 6.0.2
- multipledispatch 0.6.0
- multiprocess 0.70.14
- munkres 1.1.4
- mypy-extensions 1.0.0
- navigator-updater 0.4.0
- nbclassic 0.5.5
- nbclient 0.5.13
- nbconvert 6.5.4
- nbformat 5.9.2
- nest-asyncio 1.5.6
- networkx 3.1
- nltk 3.8.1
- notebook 6.5.4
- notebook_shim 0.2.2
- numba 0.57.1
- numexpr 2.8.4
- numpy 1.24.3
- numpydoc 1.5.0
- openpyxl 3.0.10
- packaging 23.1
- pandas 2.0.3
- pandocfilters 1.5.0
- panel 1.2.3
- param 1.13.0
- parsel 1.6.0
- parso 0.8.3
- partd 1.4.0
- pathlib 1.0.1
- pathspec 0.10.3
- patsy 0.5.3
- pep8 1.7.1
- pexpect 4.8.0
- pickleshare 0.7.5
- Pillow 9.4.0
- pip 23.2.1
- pkce 1.0.3
- pkginfo 1.9.6
- platformdirs 3.10.0
- plotly 5.9.0
- pluggy 1.0.0
- ply 3.11
- poyo 0.5.0
- prometheus-client 0.14.1
- prompt-toolkit 3.0.36
- Protego 0.1.16
- psutil 5.9.0
- ptyprocess 0.7.0
- pure-eval 0.2.2
- py-cpuinfo 8.0.0
- pyarrow 11.0.0
- pyasn1 0.4.8
- pyasn1-modules 0.2.8
- pycodestyle 2.10.0
- pycosat 0.6.4
- pycparser 2.21
- pyct 0.5.0
- pycurl 7.45.2
- pydantic 1.10.8
- PyDispatcher 2.0.5
- pydocstyle 6.3.0
- pyerfa 2.0.0
- pyflakes 3.0.1
- Pygments 2.15.1
- PyJWT 2.4.0
- pylint 2.16.2
- pylint-venv 2.3.0
- pyls-spyder 0.4.0
- pyodbc 4.0.34
- pyOpenSSL 23.2.0
- pyparsing 3.0.9
- PyQt5-sip 12.11.0
- pyrsistent 0.18.0
- PySocks 1.7.1
- pytest 7.4.0
- python-dateutil 2.8.2
- python-dotenv 0.21.0
- python-json-logger 2.0.7
- python-lsp-black 1.2.1
- python-lsp-jsonrpc 1.0.0
- python-lsp-server 1.7.2
- python-slugify 5.0.2
- python-snappy 0.6.1
- pytoolconfig 1.2.5
- pytz 2023.3.post1
- pyviz-comms 2.3.0
- PyWavelets 1.4.1
- pyxdg 0.27
- PyYAML 6.0
- pyzmq 23.2.0
- QDarkStyle 3.0.2
- qstylizer 0.2.2
- QtAwesome 1.2.2
- qtconsole 5.4.2
- QtPy 2.2.0
- queuelib 1.5.0
- regex 2022.7.9
- requests 2.31.0
- requests-file 1.5.1
- requests-toolbelt 1.0.0
- responses 0.13.3
- rfc3339-validator 0.1.4
- rfc3986-validator 0.1.1
- rope 1.7.0
- Rtree 1.0.1
- ruamel.yaml 0.17.21
- ruamel-yaml-conda 0.17.21
- s3fs 2023.4.0
- safetensors 0.3.2
- scikit-image 0.20.0
- scikit-learn 1.3.0
- scikit-learn-intelex 20230426.111612
- scipy 1.11.1
- Scrapy 2.8.0
- seaborn 0.12.2
- SecretStorage 3.3.1
- Send2Trash 1.8.0
- service-identity 18.1.0
- setuptools 68.0.0
- sip 6.6.2
- six 1.16.0
- smart-open 5.2.1
- sniffio 1.2.0
- snowballstemmer 2.2.0
- sortedcontainers 2.4.0
- soupsieve 2.4
- Sphinx 5.0.2
- sphinxcontrib-applehelp 1.0.2
- sphinxcontrib-devhelp 1.0.2
- sphinxcontrib-htmlhelp 2.0.0
- sphinxcontrib-jsmath 1.0.1
- sphinxcontrib-qthelp 1.0.3
- sphinxcontrib-serializinghtml 1.1.5
- spyder 5.4.3
- spyder-kernels 2.4.4
- SQLAlchemy 1.4.39
- stack-data 0.2.0
- statsmodels 0.14.0
- sympy 1.11.1
- tables 3.8.0
- tabulate 0.8.10
- TBB 0.2
- tblib 1.7.0
- tenacity 8.2.2
- terminado 0.17.1
- text-unidecode 1.3
- textdistance 4.2.1
- threadpoolctl 2.2.0
- three-merge 0.1.1
- tifffile 2023.4.12
- tinycss2 1.2.1
- tldextract 3.2.0
- tokenizers 0.13.2
- toml 0.10.2
- tomlkit 0.11.1
- toolz 0.12.0
- tornado 6.3.2
- tqdm 4.65.0
- traitlets 5.7.1
- transformers 4.32.1
- Twisted 22.10.0
- typing_extensions 4.7.1
- tzdata 2023.3
- uc-micro-py 1.0.1
- ujson 5.4.0
- Unidecode 1.2.0
- urllib3 1.26.16
- w3lib 1.21.0
- watchdog 2.1.6
- wcwidth 0.2.5
- webencodings 0.5.1
- websocket-client 0.58.0
- Werkzeug 2.2.3
- whatthepatch 1.0.2
- wheel 0.38.4
- widgetsnbextension 4.0.5
- wrapt 1.14.1
- wurlitzer 3.0.2
- xarray 2023.6.0
- xxhash 2.0.2
- xyzservices 2022.9.0
- y-py 0.5.9
- yapf 0.31.0
- yarl 1.8.1
- ypy-websocket 0.8.2
- zict 2.2.0
- zipp 3.11.0
- zope.interface 5.4.0
- zstandard 0.19.0
声明：本文内容由网友自发贡献，不代表【wpsshop博客】立场，版权归原作者所有，本站不承担相应法律责任。如您发现有侵权的内容，请联系我们。转载请注明出处：https://www.wpsshop.cn/w/码创造者/article/detail/990557
推荐阅读
相关标签
