Installation System Requirements Operating System: Recommended Ubuntu 18.04 or later GPU: Nvidia GPU Driver Version: Recommended version 525 or later Download Isacc Gym Preview 4 wget https://developer.nvidia.com/isaac-gym-preview-4 tar -zxvf ./isaac-gym-preview-4 Create Conda Environment conda env create -f conda_env.yml conda activate sirius Install PyTorch pip install torch==1.13.0+cu116 torchvision==0.14.0+cu116 torchaudio==0.13.0 --extra-index-url https://download.pytorch.org/whl/cu116 Install Isaac Gym cd isaacgym/python && pip install -e . && cd ../.. Try running an example cd examples && python 1080_balls_of_solitude.py Install rsl_rl & legged_gym cd rsl_rl && pip install -e . && cd .. cd legged_gym && pip install -e . && cd ..