Skip to content

isaacsim4.5_install.md

Latest commit

 

History

History
154 lines (104 loc) · 3.44 KB

isaacsim4.5_install.md

File metadata and controls

154 lines (104 loc) · 3.44 KB

Isaac Sim 4.5.0 Environment Installation

2.1 Clone the unitree_sim_isaaclab Repository

  1. Clone the unitree_sim_isaaclab repository:
git clone git@github.com:unitreerobotics/unitree_sim_isaaclab.git
  1. Initialize and clone the submodules:
cd unitree_sim_isaaclab
git submodule update --init --depth 1
  1. Modify the teleimager configuration file (cam_config_server.yaml)

Update the corresponding keys in cam_config_server.yaml as follows:

image_shape: [480, 640]
type: isaacsim

Please refer to the teleimagerREADME.mdfor detailed configuration instructions and environment setup.

2.2 Installation on Ubuntu 22.04 and Later(pip install)

  • Create Virtual Environment
conda create -n unitree_sim_env python=3.10
conda activate unitree_sim_env
  • Install Pytorch

This needs to be installed according to your CUDA version. Please refer to the official PyTorch installation guide. The following example uses CUDA 12:

pip install torch==2.5.1 torchvision==0.20.1 --index-url https://download.pytorch.org/whl/cu121
  • Install Isaac Sim 4.5.0
pip install --upgrade pip

pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com

Verify successful installation:

isaacsim

First execution will show: Do you accept the EULA? (Yes/No): Yes

  • Install Isaac Lab

The current IsaacLab version used is 91ad4944f2b7fad29d52c04a5264a082bcaad71d

git clone git@github.com:isaac-sim/IsaacLab.git

sudo apt install cmake build-essential

cd IsaacLab

./isaaclab.sh --install

Verify successful installation:

python scripts/tutorials/00_sim/create_empty.py
or
./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py
  • Install unitree_sdk2_python
git clone https://github.com/unitreerobotics/unitree_sdk2_python

cd unitree_sdk2_python

pip3 install -e .
  • Install other dependencies
pip install -r requirements.txt

cd teleimager

pip install -e .

2.3 Installation on Ubuntu 20.04(binary install)

  • Download Isaac Sim Binary

Download the Isaac Sim 4.5.0 binary and extract it.

Assume the path to Isaac Sim is /home/unitree/tools/isaac-sim. Follow the steps below:

  • Set environment variables

Please replace with your own path

export ISAACSIM_PATH="${HOME}/tools/isaac-sim"            
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

Verify the setup:

${ISAACSIM_PATH}/isaac-sim.sh
# or
${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"

Note: All conda environments (including base) must be deactivated before running this.

Note: You can add the above commands to your ~/.bashrc file for convenience.

  • Install Isaac Lab

Using IsaacLab commit 91ad4944f2b7fad29d52c04a5264a082bcaad71d

git clone git@github.com:isaac-sim/IsaacLab.git

sudo apt install cmake build-essential

cd IsaacLab

ln -s ${HOME}/tools/isaac-sim/ _isaac_sim     (Please replace with your own path)

./isaaclab.sh --conda unitree_sim_env

conda activate unitree_sim_env

./isaaclab.sh --install
  • Install unitree_sdk2_python
git clone https://github.com/unitreerobotics/unitree_sdk2_python

cd unitree_sdk2_python

pip3 install -e .
  • Install other dependencies
pip install -r requirements.txt