一、搭建UMI环境
（二）中安装了Anaconda3，在此基础上，创建umi环境，在universal_manipulation_interface-main文件夹中打开terminal并输入指令
conda env create -f conda_environment.yaml此指令根据yaml文件创建环境并安装相应库
如果报错：
CondaHTTPError: HTTP 000 CONNECTION FAILED for url <https://conda.anaconda.org/conda-forge/linux-64
则更改conda和apt源
首先，更改conda源，进入编辑环境文件
sudo gedit ~/.condarc改为Anaconda 软件仓库
channels:
- defaults
show_channel_urls: true
default_channels:
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/r
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/msys2
custom_channels:
conda-forge: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
pytorch: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud更改apt源，进入编辑环境文件
sudo gedit /etc/apt/sources.list改为Ubuntu 软件仓库
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
# 以下安全更新软件源包含了官方源与镜像站配置，如有需要可自行修改注释切换
deb http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse
deb-src http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse改后为了生效，要更新，运行
sudo apt update
sudo apt-get update二、pycharm调用
在pycharm中引用此env作为interpreter，右下角点击添加新的解释器
选择现有conda环境，选择umi作为interpreter
