[Deprecated] Setting up NVIDIA Isaac Gym on Ubuntu 22.04 / 20.04

2024-07-20 Update:

Isaac Gym is deprecated. Please refer to NVIDIA Isaac Lab note: Getting Started with NVIDIA Isaac Lab on Ubuntu 22.04 / 24.04

1. Download Isaac Gym Installation File

Go to the Isaac Gym website.

Isaac Gym - Preview ReleaseNVIDIA Developer

Login using the NVIDIA account. Click "Join now".

Click "Member area".

Check the "I Agree To ..." checkbox, and in the expanded section, click the button to download.

Extract the downloaded "IsaacGym_Preview_4_Package.tar.gz" file. Then, move the folder to a known location.

2. Set up Conda Environment

Isaac Gym requires Python version <3.9, >=3.6. Here, we will be using Python 3.8.

conda create --name gym python=3.8
conda activate gym

Note: Set the environment name to be descriptive. "gym" here is just an example, and ideally it should be your project name.

cd <path-to-isaacgym-folder>/python
pip install -e .

pip install protobuf==3.20

Create a new file (here we put it under the isaac gym installation directory: ~/Documents/isaacgym/env.sh) with the following content in the file.

env.sh

# solve libpython3.8.so.1.0 not found issue
export LD_LIBRARY_PATH=$CONDA_PREFIX/lib/:$LD_LIBRARY_PATH

# solve "generated code is out of date and must be regenerated with protoc >= 3.19.0" issue
# export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python

3. Running Example

On every new terminal, do

source env.sh

To start off, we can run the included examples.

cd <path-to-isaacgym-folder>/python/examples

python joint_monkey.py --asset_id 0