NVIDIA Isaac

What is Isaac Gym?

Prerequisites

1. Ubuntu 20.04 / Ubuntu 22.04
2. Miniconda

Installation

$ sudo apt update
$ sudo apt install build-essential -y
# verify
$ gcc — version

Create virtual environment

$ conda create -n isaac python==3.8 && conda activate isaac
$ pip install torch==2.0.0 torchvision==0.15.1 torchaudio==2.0.0

Or you can run the shellscript file from the Isaac Sim folder:

$ cd isaacgym
$ ./create_conda_env_rlgpu.sh
$ conda activate rlgpu

Download Isaac Gym from NVIDIA and save the file in your home folder. You need to agree to the Terms of the NVIDIA Isaac Gym License Agreement.

Update LD_LIBRARY_PATH, replace <USER> and <VENV> with your real parameters:

$ export LD_LIBRARY_PATH=/home/<USER>/miniconda3/envs/<VENV>/lib:$LD_LIBRARY_PATH

$ cd ~
$ tar -zxvf IsaacGym_Preview_4_Package.tar.gz && cd ./isaacgym/python && pip install -e .
$ pip install requirements.txt
$ pip install matplotlib pandas tensorboard opencv-python numpy==1.23.5 openpyxl onnxruntime onnx

Troubleshooting

ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or directory

You forgot to update the LD_LIBRARY_PATH

$ export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/home/ubuntu//miniconda3/envs/isaac/lib/

NVIDIA-SMI has failed

It couldn’t communicate with the NVIDIA driver. Make sure that the latest NVIDIA driver is installed and running

AttributeError: module 'setuptools._disutils' has no attribute 'version'

$ pip install setuptools==59.5.0