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, 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.
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