Installation#
Attention
If you want to use the provided examples and dataset, you need to choose the Nightly version. The PyPI package only contains source codes.
git clone https://github.com/Skylark0924/Rofunc.git
cd Rofunc
# Create a conda environment
# Python 3.8 is strongly recommended
conda create -n rofunc python=3.8
# For Linux user
sh ./scripts/install.sh
# [Option] Install with baseline RL frameworks (SKRL, RLlib, Stable Baselines3)
sh ./scripts/install_w_baselines.sh
# [Option] For MacOS user (brew is required, Isaac Gym based simulator is not supported on MacOS)
sh ./scripts/mac_install.sh
Isaac Sim has to be installed firstly by following this documentation. Note that the Isaac Sim version should be 2022.2.1, 2023.1.0 is not supported yet since its default python version is 3.10 which is not compatible with rofunc.
Find the Isaac Sim installation path (the default path should be /home/[user_name]/.local/share/ov/pkg/isaac_sim-2022.2.1), and run the following command to set up OmniIsaacGym.
# Alias the Isaac Sim python in .bashrc
gedit ~/.bashrc
# Add the following line to the end of the file
alias pysim2="/home/[user_name]/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh"
# Save and close the file
source ~/.bashrc
git clone https://github.com/Skylark0924/Rofunc.git
cd Rofunc
# Install rofunc
pysim2 -m pip install .
# Install rofunc
pip install rofunc
# [Option] Install with baseline RL frameworks (SKRL, RLlib, Stable Baselines3) and Envs (gymnasium[all], mujoco_py)
pip install rofunc[baselines]
# [Required] Install pbdlib and IsaacGym
pip install https://github.com/Skylark0924/Rofunc/releases/download/v0.0.2.3/pbdlib-0.1-py3-none-any.whl
pip install https://github.com/Skylark0924/Rofunc/releases/download/v0.0.0.9/isaacgym-1.0rc4-py3-none-any.whl
Isaac Sim has to be installed firstly by following this documentation. Note that the Isaac Sim version should be 2022.2.1, 2023.1.0 is not supported yet since its default python version is 3.10 which is not compatible with rofunc.
Find the Isaac Sim installation path (the default path should be /home/[user_name]/.local/share/ov/pkg/isaac_sim-2022.2.1), and run the following command to set up OmniIsaacGym.
# Alias the Isaac Sim python in .bashrc
gedit ~/.bashrc
# Add the following line to the end of the file
alias pysim2="/home/[user_name]/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh"
# Save and close the file
source ~/.bashrc
# Install rofunc
pysim2 -m pip install rofunc
# [Option] Install with baseline RL frameworks (SKRL, RLlib, Stable Baselines3) and Envs (gymnasium[all], mujoco_py)
pysim2 -m pip install rofunc[baselines]
# [Required] Install pbdlib
pysim2 -m pip install https://github.com/Skylark0924/Rofunc/releases/download/v0.0.2.3/pbdlib-0.1-py3-none-any.whl
Note
If you want to use functions related to ZED camera, you need to install ZED SDK manually. (We have tried to package it as a .whl file to add it to requirements.txt, unfortunately, the ZED SDK is not very friendly and doesn’t support direct installation.)