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This repository is a port of legged_gym from the good folk over at RSL, with some significant refactoring.

Requirements

• Ubuntu 20.04 or 22.04
• NVidia drivers, ideally with CUDA 12 or higher
• Python 3.8 A virtual environment is highly recommended; if you don't have a favorite, Anaconda is the easiest to get started with.
• Download and extract Isaac Gym Preview 4
• Clone this repo

Install

Run the following:

cd <gpugym_location>
pip install -r requirements.txt
pip install -e <issacgym_location>/python
pip install -e .
pre-commit install

We use Ruff to enforce style and consistency, and pre-commit to enforce ruff. Feel free to omit the last line if you don't intend to make PRs, and don't care about style and consistency.