nvidia 40系列显卡的环境依赖

经过测试发现nvidia 4060ti 在cuda11.3上会失败
经过大佬提示才知道在cuda11.7的ubuntu20.04上可以跑通，
然后吧环境的yaml在这里贴出来供大家使用
name: rl-robotics-env
channels:
  - defaults
dependencies:
  - _libgcc_mutex=0.1=main
  - _openmp_mutex=5.1=1_gnu
  - ca-certificates=2023.05.30=h06a4308_0
  - libedit=3.1.20221030=h5eee18b_0
  - libffi=3.2.1=hf484d3e_1007
  - libgcc-ng=11.2.0=h1234567_1
  - libgomp=11.2.0=h1234567_1
  - libstdcxx-ng=11.2.0=h1234567_1
  - ncurses=6.4=h6a678d5_0
  - openssl=1.1.1u=h7f8727e_0
  - pip=23.1.2=py38h06a4308_0
  - python=3.8.0=h0371630_2
  - readline=7.0=h7b6447c_5
  - setuptools=67.8.0=py38h06a4308_0
  - sqlite=3.33.0=h62c20be_0
  - tk=8.6.12=h1ccaba5_0
  - wheel=0.38.4=py38h06a4308_0
  - xz=5.4.2=h5eee18b_0
  - zlib=1.2.13=h5eee18b_0
  - pip:
      - torch==1.13.1+cu117
      - torchvision==0.14.1+cu117
      - torchaudio==0.13.1
      - -f https://download.pytorch.org/whl/cu117/torch_stable.html
      - absl-py==1.4.0
      - backports-cached-property==1.0.2
      - cachetools==5.3.1
      - catkin-pkg==0.5.2
      - certifi==2023.5.7
      - charset-normalizer==3.2.0
      - cloudpickle==2.2.1
      - contourpy==1.1.0
      #- cupy==9.6.0
      - cupy-cuda117     
      - cycler==0.11.0
      - distro==1.8.0
      - docutils==0.20.1
      - fastrlock==0.8.1
      - filterpy==1.4.5
      - fonttools==4.41.0
      - fvcore==0.1.5.post20221221
      - google-auth==2.22.0
      - google-auth-oauthlib==1.0.0
      - grpcio==1.56.0
      - gym==0.26.2
      - gym-notices==0.0.8
      - idna==3.4
      - imageio==2.31.1
      - importlib-metadata==6.8.0
      - importlib-resources==6.0.0
      - inputs==0.5
      - iopath==0.1.10
      - kiwisolver==1.4.4
      - markdown==3.4.3
      - markupsafe==2.1.3
      - matplotlib==3.3.4
      - mpmath==1.3.0
      - ninja==1.11.1
      - numpy==1.19.5
      - oauthlib==3.2.2
      - packaging==23.1
      - pandas==1.1.5
      - parameterized==0.8.1
      - pillow==10.0.0
      - portalocker==2.7.0
      - protobuf==4.23.4
      - pyasn1==0.5.0
      - pyasn1-modules==0.3.0
      - pyparsing==3.0.9
      - python-dateutil==2.8.2
      - pytorch3d==0.3.0
      - pytz==2023.3
      - pyyaml==6.0
      - requests==2.31.0
      - requests-oauthlib==1.3.1
      - rospkg==1.5.0
      - rsa==4.9
      - scipy==1.10.1
      - six==1.16.0
      - sympy==1.9
      - tabulate==0.9.0
      - tensorboard==2.13.0
      - tensorboard-data-server==0.7.1
      - termcolor==2.3.0
      - tqdm==4.65.0
      - transformations==2022.9.26
      - typing-extensions==4.7.1
      - urllib3==1.26.16
      - werkzeug==2.3.6
      - yacs==0.1.8
      - zipp==3.16.1

最后的时候numpy版本有个不对的地方
最后安装下pip install -i https://pypi.tuna.tsinghua.edu.cn/simple numpy==1.23.0
即可

华为昇腾社区/quadruped-robot

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