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Thirdparty software

Isaacgym is not accessible through pypi, but through https://developer.nvidia.com/isaac-gym. Download and unzip the software and paste it into this folder.

Install IsaacGym

Prerequisites:

  • Ubuntu 18.04 or 20.04.
  • Python 3.6, 3.7 or 3.8.
  • Minimum NVIDIA driver version:
    • Linux: 470.
cd IsaacGym_Preview_4_Package/isaacgym/python
pip install -e.

Install IsaacGymEnvs (optional)

In order to use the RL examples, please clone the IsaacGymEnvs repo into this folder by:

git clone https://github.com/isaac-sim/IsaacGymEnvs.git

After Isaacgym is working in the current python environment, then install IsaacGymEnvs package by:

cd IsaacGymEnvs
pip install -e .

Troubleshooting

If you have an Nvidia card and after running the simulation you get a black screen, you might need to force the use of the GPU card through export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json. Run this command from the same folder as the script to be launched

If you encounter AttributeError: module 'numpy' has no attribute 'float', just change np.float to np.float32 in the code.