Steps

Steps to install isaaclab & isaacsim

About nvidia driver,both from .run and from “Softwares & Updates” are available. But remember to choose open-kernal version if you come up with “No Devices Found”after “nvidia-smi”. If you use .run to install, you need to run “-m open-kernal” for fixing.

If you installed the wrong version, there will be “ppm init failed”. Use “alt +F2” to get into tty, then run “apt purge nvidia*” to uninstall all the driver related packages.

Download isaacsim to install isaaclab and you need to run “source ./setup_conda_env.sh” in the isaacsim folder every time you use the apps.

Steps to run Beyondmimic

We have errors like “KeyError: ‘obs_groups’ when running RSL-RL training”“ValueError: Observations for they key ‘rnd_state’ not found in infos[‘observations’].” “PPOConfig.init() got an unexpected keyword argument ‘model_name’ “ and other Keyerror.

--> Use rsl_rl v2.3.1 (if it’s too high will have Observations not found,if it’s too low will be PPOerror)

Steps to enable .xml into isaaclab

We use sim_utils.MjcfFileCfg to load .xml file.It is only accessed in main branch of Isaaclab. So I need switch to Isaaclab, create a new conda environment named “isaaclab2.3” in python3.11, use “pip” method to install isaacsim as https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/pip_installation.html .Then run “./isaaclab.sh --install”

There are issues with....

With “ RPC failed; curl 56 GnuTLS recv error (-9) when running git clone”, which was network error.Solution: remenber to config the ssh-key.

git config --global http.postBuffer 1048576000 //Increase the Git buffer size
git config --global http.sslVerify false //Disable SSL verification temporarily
git config --global url."git@github.com:".insteadOf "https://github.com/"  //use SSH instead of HTTPS

And my disk has limited space, so I use “ls -n” to create a symbolic link from .conda to another disk.

Steps to process OMOMO

To install pytorch3d,run the scripts below:

conda create -n p3d python=3.9 -y
conda activate p3d
pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 \
  --extra-index-url https://download.pytorch.org/whl/cu116
# use pip not conda!!
pip install pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu116_pyt1130/download.html

Scipy can’t be installed directly in python 3.9:

python3.9 -m pip install scipy --user
pip3 install scipy --user

Install bps_torch:

pip install git+https://github.com/otaheri/chamfer_distance
pip install git+https://github.com/otaheri/bps_torch

And there still exist some problems with dimension arrays.repeat the 1 dimension data (.repeat(move_hand.shape[0]))to steptime’s and also remember the .long() method may cause data wrong.

The p3d environment is used to run python process_obj_scale.py to scale the objects.

Steps to train in Beyondmimic

If checkout to v2.2.1 , I can’t use smpl.py (MjcfFileCfg) to load model. If checkout to main, generate error “ModuleNotFoundError: No module named ‘isaacsim.asset’”

Choose to use Isaaclab in main, Isaacsim in 4.5.0

When use ./isaaclab.sh -i

• ModuleNotFoundError: No module named ‘pkg_resources’ -> the version of setuptools is too high

  • Install pip install flatdict==4.0.1 manually, repeat ./isaaclab.sh -i and pip install flatdict several times and you can dramatically solve the conflict problem.

  • Or use “conda install setuptools wheel packaging=23.0” to avoid flatdict version error.

• Network error : use ssh

    git config --global url."git@github.com:".insteadOf "https://github.com/"
  

Use ./isaaclab.sh -i none to replace the whole install

• Refer to https://blog.csdn.net/2303_76350015/article/details/155522236 install

    pip install "torch==2.7.0" "torchvision==0.22.0" \
       --index-url https://download.pytorch.org/whl/cu128
  

Change into Isaaclab in main, Isaacsim in 5.1.0

• For “ImportError: cannot import name ‘dump_pickle’ from ‘isaaclab.utils.io’”

  • Change train.py like this : https://github.com/BDX-R/BDX-R-IsaacLab/pull/14/changes

• For “doesn’t have a member called normalizer” when I want to play.py/--loginer wandb/train humanoid

  • Directly delete “normalizer=ppo_runner.obs_normalizer”

• isaaclab 0.54.3 requires starlette==0.49.1, but you have starlette 0.45.3 which is incompatible.

  • Use conda install “starlette==0.45.3”-> retry pip many times..

• Isaacsim is unable to record video

  • Install ffmpeg “conda install -c conda-forge ffmpeg”