Cuda, cudnn, pip, torch version for Isaacgym?

I installed cuda 11.3, cudnn 8.2.1, pip 20.3.1 ~ 22.1.2, torch 1.10.0+cu113.

joint_monkey.py test was OK, but train.py test has some error.(RuntimeError: Error building extension ‘gymtorch’)

Therefore i want to know optimal version of each program for Isaacgym.

Thank you