Added dependencies-fix instruction (#74)

* Added dependencies-fix instruction

* Added requirements

* Removed no longer needed manual dep install

* Added cuda-nvrtc line to install-third-party-external from and removed from readme

* Ran `make format` for black formatting

Makefile

@@ -57,6 +57,7 @@ install-third-party:
 	@cd third_party/isaacgym/python/ && pip install --verbose -e .
 
 install-third-party-external:
+	@conda install -y nvidia/label/cuda-12.0.0::cuda-nvrtc
 	@cd ${ISAACGYM_PATH}/python/ && pip install --verbose -e .
 
 build-ext:

sim/algo/ppo/on_policy_runner.py

@@ -38,9 +38,9 @@
 from typing import Callable, Optional
 
 import torch
-import wandb
 from torch.utils.tensorboard import SummaryWriter
 
+import wandb
 from sim.algo.ppo.actor_critic import ActorCritic
 from sim.algo.ppo.ppo import PPO
 from sim.algo.vec_env import VecEnv

sim/envs/humanoids/stompymini_config.py

@@ -36,7 +36,6 @@ class asset(LeggedRobotCfg.asset):
         name = "stompymini"
         file = str(robot_urdf_path(name))
 
-
         foot_name = ["RS_01_Stator", "RS_01_Stator_2"]
         knee_name = ["RS_04_Rotor_7", "RS_04_Rotor_8"]
 

sim/envs/humanoids/xbot_config.py

@@ -36,7 +36,6 @@ class asset(LeggedRobotCfg.asset):
         name = "xbot"
         file = str(robot_urdf_path(name))
 
-
         foot_name = "ankle_roll"
         knee_name = "knee"
 

sim/requirements.txt

@@ -4,4 +4,8 @@ mediapy
 torch
 python-dotenv
 h5py
-gdown
+gdown
+matplotlib==3.3.4
+numpy==1.19.5
+wandb
+tensorboard