Last Updated: 2023-10-10

In this article, note that ~/WORKING_DIR/ refers to any directory that will contain the cloned repo.

TODO: insert the image explaining differences.

Isaac Gym

0. Install Conda

If you don’t have conda installed, see Virtual Environments section.

1. Download IsaacGym Preview 4 to ~/WORKING_DIR/

Note: old docs can be found at: ~/WORKING_DIR/isaacgym/docs/index.html

2. Install 

cd ~/WORKING_DIR/isaacgym/python 
conda create -n environment_name_goes_here python==3.8
conda activate environment_name_goes_here
pip install -e .

3. Testing Isaac Works 

#test to make sure isaacgym is running correctly
cd ~/WORKING_DIR/isaacgym/python/examples
python 1080_balls_of_solitude.py


Isaac-Sim

  • documentation
  • requires NVidia RTX GPU

default api (omni.isaac.core)

  • Robot
  • Franka default gym api (omni.isaac.gym)