isaacgym和isaacsim仿真的安装，版本配置记录

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：

Workstation Installation — Omniverse IsaacSim latest documentationhttps://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html

isaacgym:Isaac Gym - Preview Release | NVIDIA Developerhttps://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 rlgpu

conda deactivate

pip 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