# Differences Between IsaacGymEnvs and OmniIsaacGymEnvs?

**URL:** <https://forums.developer.nvidia.com/t/differences-between-isaacgymenvs-and-omniisaacgymenvs/252398>\
**Category:** Isaac Gym\
**Created:** [May 5, 2023, 12:57pm UTC](https://forums.developer.nvidia.com/t/differences-between-isaacgymenvs-and-omniisaacgymenvs/252398 "2023-05-05T12:57:59Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![fbm2](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/fbm2/32/206260_2.png) [@fbm2](https://forums.developer.nvidia.com/u/fbm2)\
**Post date:** [May 5, 2023, 12:57pm UTC](https://forums.developer.nvidia.com/t/differences-between-isaacgymenvs-and-omniisaacgymenvs/252398/1 "2023-05-05T12:57:59Z")

</div>

Hey, I’ve been using IsaacGymEnvs as a base for building my environments, and recently I discovered the OmniIsaacGymEnvs repo; what I gathered is that the omni one uses the omniverse Isaac sim version, but I’m wondering if there is a preferred approach as we advance, is either of them more updated or getting more support from the future

---

<div class="post-metadata">

**Author:** ![piperunner.in](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/piperunner.in/32/266659_2.png) [@piperunner.in](https://forums.developer.nvidia.com/u/piperunner.in)\
**Post date:** [September 14, 2023, 7:22pm UTC](https://forums.developer.nvidia.com/t/differences-between-isaacgymenvs-and-omniisaacgymenvs/252398/2 "2023-09-14T19:22:02Z")

</div>

According to this post: [Omniverse ISAAC Gym - Access camera stream - #6 by ahaidu](https://forums.developer.nvidia.com/t/omniverse-isaac-gym-access-camera-stream/219590/6)

IsaacGymEnvs is deprecated, and OmniIsaacGymEnvs is now the defacto way of working on RL problems.

---

<div class="post-metadata">

**Author:** ![piperunner.in](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/piperunner.in/32/266659_2.png) [@piperunner.in](https://forums.developer.nvidia.com/u/piperunner.in)\
**Post date:** [September 20, 2023, 1:38pm UTC](https://forums.developer.nvidia.com/t/differences-between-isaacgymenvs-and-omniisaacgymenvs/252398/3 "2023-09-20T13:38:35Z")

</div>

Just to add:

> <https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/issues/14>
>
> Hi, 
> 
> What is the difference between this repo and IsaacGymEnvs?

---

<div class="post-metadata">

**Author:** ![sujitvasanth](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/sujitvasanth/32/285563_2.png) [@sujitvasanth](https://forums.developer.nvidia.com/u/sujitvasanth)\
**Post date:** [September 21, 2023, 8:54pm UTC](https://forums.developer.nvidia.com/t/differences-between-isaacgymenvs-and-omniisaacgymenvs/252398/4 "2023-09-21T20:54:37Z")

</div>

Hi fbm2 I recently made the shift fromisaac gym to omniisaacGymEnvs it was pretty painful and I had to rewrite most of my initialisation code. I was able to transfer most of my reward functions.  
t initially was slower but needed some changes in the tasks yaml and now runs faster than Isaac gym

so the way to go is OmniIsaacGymnEnvs - if you haven’t started developing would strongly suggest you begin in OmniisaacGymEnvs

I was able to simultaneously have both versions running as Omniverse has its own python version

best wishes

Sujit