How do I setup Isaac Gym Preview Release on Ubuntu?

10 Aug 2023 in Blog

In this blog, I discuss the steps to install IsaacGym Preview Release onto your Ubuntu 18.04/20.04

I use Isaac Gym Preview Release 4. The best way that I recommend anyone to create and run Isaac Gym on Ubuntu is as follows:

1. Creating a compatible Conda Environment

   1. Installing Miniconda

       mkdir -p ~/miniconda3
       wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
       bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
       rm -rf ~/miniconda3/miniconda.sh
      

      You also find the conda installation at the official documentation: https://docs.anaconda.com/free/miniconda/#quick-command-line-install

   2. Initialise the installed Miniconda:

       ~/miniconda3/bin/conda init bash
       ~/miniconda3/bin/conda init zsh
      

   3. Restart the terminal to activate conda

   4. Checking for proper installation

      To check if conda has been installed properly, you can use the command:

       conda --version 
      

   5. Deactivate the base environment auto-activation when starting a new session using the command:

       conda config --set auto_activate_base false
      

   6. Create a new conda environment with python 3.8 version

       conda create --name drl python=3.8
      

   7. Activate the newly created conda environment

       conda activate drl
      

   8. Install numpy 1.23 version

       pip install numpy==1.23
      

   9. Check if the correct versions of python and numpy are installed using:

       conda list
      

   The required conda environment is ready if all the above steps have been executed smoothly.

2. Install the Isaac Gym Preview Package from their official website: https://developer.nvidia.com/isaac-gym

   Extract the package from the installed .tar.gz file

3. Make sure your conda environment is activated. Navigate to the python subdirectory in the installed preview package.

   Use the command :

    pip install -e .
   

   for installing Isaac Gym onto your environment.

   You can also check the /docs/install.html file for other installation methods.

4. Check for a proper installation by running any of the examples within the /examples folder in the python subdirectory. For example you can run:

    python joint_monkey.py
   

The installation is finished. Go and train some robots!!

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This post is licensed under CC BY 4.0 by the author.