Environment:Isaac sim IsaacGymEnvs Pip Dependencies

Knowledge Sources	IsaacGymEnvs
Domains	Infrastructure, Reinforcement_Learning
Last Updated	2026-02-15 09:00 GMT

Overview

Python pip dependencies for IsaacGymEnvs v1.5.1, including pinned versions for rl-games, Hydra, gym, warp-lang, trimesh, urdfpy, and pysdf.

Description

IsaacGymEnvs declares its Python dependencies in `setup.py` with a mix of pinned exact versions and minimum version constraints. Several packages are pinned to specific versions to ensure API compatibility (e.g., `gym==0.23.1` for the rl_games integration, `warp-lang==0.10.1` for IndustReal mesh operations). The rl-games library (>= 1.6.0) provides the core RL training infrastructure. Hydra (>= 1.2) provides the hierarchical configuration system.

Usage

These dependencies are automatically installed when running `pip install -e .` from the IsaacGymEnvs root directory. They are required for all workflows. Some dependencies (warp-lang, trimesh, urdfpy, pysdf) are specifically needed for the Factory and IndustReal assembly tasks.

System Requirements

Category	Requirement	Notes
Python	>= 3.6	Required by setup.py `python_requires`
pip	Latest	Required for package installation
Disk	~2GB	For all pip dependencies and their transitive deps

Dependencies

Python Packages

Core RL:

`gym` == 0.23.1 (pinned; rl_games compatibility)
`torch` (any; CUDA build recommended)
`rl-games` >= 1.6.0 (PPO/SAC training framework)

Configuration:

`hydra-core` >= 1.2 (hierarchical config composition)
`omegaconf` (Hydra config backend)
`jinja2` (template rendering)

Utilities:

`termcolor` (colored terminal output)
`pyvirtualdisplay` (headless rendering support)

Factory / IndustReal:

`warp-lang` == 0.10.1 (pinned; NVIDIA Warp GPU compute)
`trimesh` == 3.23.5 (pinned; mesh processing)
`urdfpy` == 0.0.22 (pinned; URDF file parsing)
`pysdf` == 0.1.9 (pinned; signed distance field computation)

Optional:

`wandb` (experiment tracking; not in setup.py but used if `wandb_activate=True`)
`fbx` + `FbxCommon` (FBX animation import for AMP poselib; separate install from Autodesk)

Credentials

`WANDB_API_KEY`: Required only if `wandb_activate: True` in config. Used by `WandbAlgoObserver` for experiment logging.

Quick Install

# Install all dependencies via setup.py
cd IsaacGymEnvs
pip install -e .

# Optional: WandB for experiment tracking
pip install wandb

# Optional: FBX SDK for AMP motion import
# See https://help.autodesk.com/view/FBX/2020/ENU/?guid=FBX_Developer_Help_scripting_with_python_fbx_installing_python_fbx_html

Code Evidence

Full dependency list from `setup.py:15-29`:

INSTALL_REQUIRES = [
    # RL
    "gym==0.23.1",
    "torch",
    "omegaconf",
    "termcolor",
    "jinja2",
    "hydra-core>=1.2",
    "rl-games>=1.6.0",
    "pyvirtualdisplay",
    "urdfpy==0.0.22",
    "pysdf==0.1.9",
    "warp-lang==0.10.1",
    "trimesh==3.23.5",
]

Python version requirement from `setup.py:41`:

python_requires=">=3.6",

Optional FBX import with graceful degradation from `poselib/skeleton/backend/fbx/fbx_backend.py:40-45`:

try:
    import fbx
    import FbxCommon
except ImportError as e:
    print("Error: FBX library failed to load - importing FBX data will not succeed. "
          "Message: {}".format(e))

WandB conditional initialization from `train.py:178-183`:

if cfg.wandb_activate:
    cfg.seed += global_rank
    if global_rank == 0:
        # initialize wandb only once per multi-gpu run
        wandb_observer = WandbAlgoObserver(cfg)
        observers.append(wandb_observer)

Common Errors

Error Message	Cause	Solution
`ModuleNotFoundError: No module named 'rl_games'`	rl-games not installed	`pip install rl-games>=1.6.0`
`ImportError: cannot import name 'RecordVideo' from 'gym.wrappers'`	Wrong gym version	`pip install gym==0.23.1`
`Error: FBX library failed to load`	FBX SDK not installed (optional)	Install from Autodesk; only needed for AMP motion retargeting
`ModuleNotFoundError: No module named 'warp'`	warp-lang not installed	`pip install warp-lang==0.10.1`; only needed for Factory/IndustReal tasks

Compatibility Notes

gym Version: Must be exactly 0.23.1. Newer gym/gymnasium versions have breaking API changes.
warp-lang Version: Must be exactly 0.10.1 for IndustReal mesh operations. Newer versions may have API changes.
trimesh/urdfpy: Pinned versions ensure URDF parsing and mesh sampling compatibility for Factory/IndustReal.
WandB: Not listed in setup.py but required at runtime if `wandb_activate: True`. Install separately.
FBX SDK: Only needed for AMP motion retargeting pipeline. Not required for standard training.

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