安装cuda
pip install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html
isaac gym 安装
下载isaac gym p4
https://developer.nvidia.com/isaac-gym/download 
cd xxx/IsaacGym_Preview_4_Package/isaacgym/python
pip install -e .
测试
python examples/1080_balls_of_solitude.py

pip install -r requirements.txt

pip install -e .

python gym/scripts play.py --task=booster_controller --num_envs=1
wasd前后左右