SafeRL-Trf

Installation

1. Create a new python virtual env with python 3.8
2. Install pytorch 2.1.2 with cuda-12.1:
   • pip install torch==2.1.2+cu121 torchvision==0.16.2+cu121 torchaudio==2.1.2+cu121 --extra-index-url https://download.pytorch.org/whl/cu121
3. Install Isaac Gym
   • Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym
   • cd isaacgym/python && pip install -e .
   • Try running an example cd examples && python 1080_balls_of_solitude.py
   • For troubleshooting check docs isaacgym/docs/index.html)
4. Install rsl_rl (PPO implementation)
   • cd rsl_rl in this repo && pip install -e .
   • If this does not work, try git checkout v1.0.2
5. Install legged_gym
   • cd legged_gym in this repo && pip install -e .
6. Install Tensorboard
   • pip install tensorboard
7. Install Positional Encodings
   • pip install positional_encodings

Problems you may met

If you are using numpy>=1.20, just replace np.float in the isaacgym/python/isaacgym/torch_utils.py with float.