# Isaac Gym - Now Deprecated 
  
 

**Note: This is legacy software. Developers may download and continue to use it, but it is no longer supported. Please consider using [Isaac Lab](https://developer.nvidia.com/isaac/lab), an open-source lightweight and performance optimized application for robot learning built on the Isaac Sim platform.**

NVIDIA’s physics simulation environment for reinforcement learning research.

  
  

[Download From Archive](/isaac-gym/download)

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## Features 

Isaac Gym features include:

- Support for importing URDF and MJCF files with automatic convex decomposition of imported 3D meshes for physical simulation
- GPU accelerated tensor API for evaluating environment state and applying actions
- Support for a variety of environment sensors - position, velocity, force, torque, etc
- Runtime domain randomization of physics parameters
- Jacobian / inverse kinematics support

Isaac Gym Preview 4 Release:

- This release aligns the PhysX implementation in standalone Preview Isaac Gym with Omniverse Isaac Sim 2022.1 to simplify migration to Omniverse for RL workloads
- Added support for SDF collisions with a nut & bolt example
- Additional Factory RL samples available in the https://github.com/NVIDIA-Omniverse/IsaacGymEnvs repository.
- Enabled gyroscopic forces by default to improve simulation
- Allowing customizing rest\_offset and contact\_offset per asset and per individual shape.
- Added parsing of spherical (ball) joints support in URDF importer
- Various bug fixes for elastic collision behavior, resetting fixed base actors, friction randomization, and friction mode settings

  

  

  

## Resource Archive 
  
[Developer Forums](https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/isaac-gym/322)