80 lines
2.7 KiB
Bash
80 lines
2.7 KiB
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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# StackForce SimReady Isaac Lab / Isaac Sim environment bootstrap.
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# Tested target: Isaac Sim 5.1.0, Isaac Lab v2.3.2, Python 3.11, Torch 2.7.0 cu128.
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# Override defaults with: ENV_NAME=env_isaaclab INSTALL_ROOT=$HOME ./setup_stackforce_isaac_lab_sim_env.sh
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ENV_NAME="${ENV_NAME:-env_isaaclab}"
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INSTALL_ROOT="${INSTALL_ROOT:-$HOME}"
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ISAACLAB_DIR="${ISAACLAB_DIR:-$INSTALL_ROOT/IsaacLab}"
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LEGGED_GYM_EX_DIR="${LEGGED_GYM_EX_DIR:-$HOME/leggedgymex/LeggedGym-Ex}"
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ISAACLAB_TAG="${ISAACLAB_TAG:-v2.3.2}"
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if ! command -v conda >/dev/null 2>&1; then
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echo "conda was not found. Install Miniconda/Anaconda first, then rerun this script." >&2
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exit 1
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fi
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if ! command -v git >/dev/null 2>&1; then
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echo "git was not found. Install git first, then rerun this script." >&2
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exit 1
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fi
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CONDA_BASE="$(conda info --base)"
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source "$CONDA_BASE/etc/profile.d/conda.sh"
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if ! conda env list | awk '{print $1}' | grep -qx "$ENV_NAME"; then
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conda create -n "$ENV_NAME" python=3.11 -y
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fi
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conda activate "$ENV_NAME"
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python -m pip install --upgrade pip setuptools wheel
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python -m pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
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python -m pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
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if [ ! -d "$ISAACLAB_DIR/.git" ]; then
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mkdir -p "$(dirname "$ISAACLAB_DIR")"
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git clone https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_DIR"
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fi
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cd "$ISAACLAB_DIR"
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git fetch --tags
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git checkout "$ISAACLAB_TAG"
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./isaaclab.sh --install
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./isaaclab.sh --install rsl_rl || true
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# SimReady has been validated with the rsl_rl package bundled by LeggedGym-Ex.
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if [ ! -d "$LEGGED_GYM_EX_DIR/.git" ]; then
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mkdir -p "$(dirname "$LEGGED_GYM_EX_DIR")"
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git clone https://github.com/lupinjia/LeggedGym-Ex.git "$LEGGED_GYM_EX_DIR"
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fi
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python -m pip uninstall -y rsl-rl rsl-rl-lib >/dev/null 2>&1 || true
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python -m pip install -e "$LEGGED_GYM_EX_DIR" --no-deps
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python - <<'PY'
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import importlib.metadata as md
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import sys
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import torch
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import rsl_rl
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print("StackForce Isaac Lab / Isaac Sim environment is ready.")
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print("python:", sys.version.split()[0])
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print("torch:", torch.__version__)
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for name in ("isaacsim", "isaaclab", "isaaclab_rl", "isaaclab_tasks"):
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try:
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print(f"{name}:", md.version(name))
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except Exception as exc:
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print(f"{name}: not found ({exc})")
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print("rsl_rl path:", rsl_rl.__file__)
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PY
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echo ""
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echo "Next step for a SimReady export:"
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echo " conda activate $ENV_NAME"
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echo " cd <exported_project>"
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echo " python -m pip install -e source/<package_name>"
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echo " python scripts/list_envs.py"
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echo " python scripts/rsl_rl/train.py --task <TaskName> --headless --num_envs 64 --max_iterations 100"
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