Installation

Create a conda environment

conda create -n isaac-vr python=3.8
conda activate isaac-vr
pip install setuptools==65.5.0
pip install --upgrade pip wheel==0.38.4
pip install termcolor

IsaacGym

Download the IsaacGym installer from the IsaacGym website and follow the instructions to download the package by running (also refer to the FurnitureBench installlation instructions):

• Click "Join now" and log into your NVIDIA account.
• Click "Member area".
• Read and check the box for the license agreement.
• Download and unzip Isaac Gym - Ubuntu Linux 18.04 / 20.04 Preview 4 release.

Once the zipped file is downloaded, move it to the desired location and unzip it by running:

tar -xzf IsaacGym_Preview_4_Package.tar.gz

Now, you can install the IsaacGym package by navigating to the isaacgym directory and running:

cd isaacgym
pip install -e python --no-cache-dir --force-reinstall

Note: The --no-cache-dir and --force-reinstall flags are used to avoid potential issues with the installation we encountered.

Note: Please ignore Pip's notice that [notice] To update, run: pip install --upgrade pip as the current version of Pip is necessary for compatibility with the codebase.

Tip: The documentation for IsaacGym is located inside the docs directory in the unzipped folder and is not available online. You can open the index.html file in your browser to access the documentation.

You can now safely delete the downloaded zipped file and navigate back to the root directory for your project.

Install packages

conda install pytorch==2.1.1 torchvision==0.16.1 torchaudio==2.1.1 pytorch-cuda=11.8 -c pytorch -c nvidia
conda install -c conda-forge rospkg catkin_pkg 
pip install -U einops matplotlib scikit-learn rosinstall_generator wstool rosinstall six vcstools msgpack empy cadquery pymeshlab pandas tqdm easydict timm opencv-python h5py