DreamWaQ在Ubuntu服务器上的安装部署与Debug（legged_gym安装）

ERROR: Package 'isaacgym' requires a different Python: 3.10.14 not in '<3.9,>=3.6'

conda create -n isaacgym python=3.8
conda activate isaacgym

# 查看虚拟环境列表
# conda env list
# 退出当前环境到base环境
# conda deactivate    
# 清除user_env环境      
# conda remove -n user_env --all  

#解压
tar -xzvf IsaacGym_Preview_4_Package.tar.gz

# 这里会安装torch
pip install -e ./isaacgym/python/

git clone https://github.com/Manaro-Alpha/DreamWaQ.git
cd DreamWaQ
pip install -e ./rsl_rl-1.0.2
pip install -e ./legged_gym

Installing collected packages: legged_gym
  Running setup.py develop for legged_gym
Successfully installed legged_gym-1.0.0

pip install tensorboard
pip uninstall numpy #不必要
pip install numpy==1.23.5

Installing collected packages: numpy
  Attempting uninstall: numpy
    Found existing installation: numpy 1.24.4
    Uninstalling numpy-1.24.4:
      Successfully uninstalled numpy-1.24.4
Successfully installed numpy-1.23.5

python3 ./legged_gym/legged_gym/scripts/train.py --task=go1
# 如果需要改GPU
--graphics_device_id 1 --sim_device cuda:1
# 
CUDA_VISIBLE_DEVICES=1 

(torch) root@wcivithvtopwwwpm-snow-f994bb78f-6f6wd:/data/coding/DreamWaQ# python3 ./legged_gym/legged_gym/scripts/train.py --task=go1
Importing module 'gym_38' (/data/coding/DreamWaQ/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to /data/coding/DreamWaQ/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 1.11.0+cu113
Device count 1
/data/coding/DreamWaQ/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /data/.rootcache/torch_extensions/py38_cu113 as PyTorch extensions root...
Emitting ninja build file /data/.rootcache/torch_extensions/py38_cu113/gymtorch/build.ninja...
Building extension module gymtorch...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
ninja: no work to do.
Loading extension module gymtorch...
Setting seed: 5
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:0
GPU Pipeline: enabled
Segmentation fault (core dumped)

#只有杀！--headless
python3 ./legged_gym/legged_gym/scripts/train.py --task=go1 --headless

################################################################################
                       Learning iteration 90/3000                       

                       Computation: 18159 steps/s (collection: 4.440s, learning 0.973s)
               Value function loss: 0.0032
                    Surrogate loss: -0.0007
             Autoenc function loss: 5.9655
             Mean action noise std: 0.56
                       Mean reward: 3.77
               Mean episode length: 507.48
      Mean episode rew_action_rate: -0.0363
       Mean episode rew_ang_vel_xy: -0.0621
      Mean episode rew_base_height: -0.0049
          Mean episode rew_dof_acc: -0.0483
    Mean episode rew_feet_air_time: -0.0017
      Mean episode rew_joint_power: -0.0007
        Mean episode rew_lin_vel_z: -0.0197
      Mean episode rew_orientation: -0.0623
Mean episode rew_power_distribution: -0.0003
       Mean episode rew_smoothness: -0.0062
 Mean episode rew_tracking_ang_vel: 0.1954
 Mean episode rew_tracking_lin_vel: 0.2059
        Mean episode terrain_level: 0.2157
--------------------------------------------------------------------------------
                   Total timesteps: 8945664
                    Iteration time: 5.41s
                        Total time: 429.71s
                               ETA: 13741.3s