This document provides instructions of how to properly install this codebase. We highly recommend using a conda environment to simplify set up.
conda create -y -n hora python=3.8
conda activate hora
# (optional) install gdown for downloading
conda install -c conda-forge gdown urllib3
# pytorch, 1.10 and cu10.2 is used for development, higher version should also work
conda install pytorch==1.10.1 torchvision==0.11.2 torchaudio==0.10.1 cudatoolkit=10.2 -c pytorch
Download IsaacGym Preview 3.0 (Download), then follow the installation instructions in the documentation. We provide the bash commands what we did during development.
gdown 1oK-QMZ40PO60PFWWsTmtK5ToFDkbL6R0 -O isaac3.tar.gz
tar -xzvf isaac3.tar.gz
cd isaacgym/python
pip install -e .
Note, there may be some errors about ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This is mainly caused by dm-control which can be ignored at this stage. As long as you can run some isaacgym examples, you are good to go:
# this example can only be ran with a monitor
python examples/joint_monkey.py
Then we install the main repository by:
git clone https://github.com/HaozhiQi/hora
cd hora
pip install -r requirements.txt
Next, follow the main instructions to test if you install correctly.