Gymtorch error with all of the tasks

hello everyone,
please help me with this error about gymtorch, i use python 3.8, ubuntu 18.04, cuda 12.1, conda 24.3:

(Apicooig) apicoo@Apicoo:~/IsaacGymEnvs/isaacgymenvs$ python train.py task=FrankaCabinet
/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
See Changes to job's runtime working directory | Hydra for more information.
ret = run_job(
Importing module ‘gym_38’ (/home/apicoo/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/apicoo/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
PyTorch version 2.3.0+cu121
Device count 2
/home/apicoo/isaacgym/python/isaacgym/_bindings/src/gymtorch
Using /home/apicoo/.cache/torch_extensions/py38_cu121 as PyTorch extensions root…
Emitting ninja build file /home/apicoo/.cache/torch_extensions/py38_cu121/gymtorch/build.ninja…
Building extension module gymtorch…
Allowing ninja to set a default number of workers… (overridable by setting the environment variable MAX_JOBS=N)
[1/2] c++ -MMD -MF gymtorch.o.d -DTORCH_EXTENSION_NAME=gymtorch -DTORCH_API_INCLUDE_EXTENSION_H -DPYBIND11_COMPILER_TYPE="_gcc" -DPYBIND11_STDLIB="_libstdcpp" -DPYBIND11_BUILD_ABI="_cxxabi1011" -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/TH -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/THC -isystem /home/apicoo/anaconda3/envs/Apicooig/include/python3.8 -D_GLIBCXX_USE_CXX11_ABI=0 -fPIC -std=c++17 -DTORCH_MAJOR=2 -DTORCH_MINOR=3 -c /home/apicoo/isaacgym/python/isaacgym/_bindings/src/gymtorch/gymtorch.cpp -o gymtorch.o
FAILED: gymtorch.o
c++ -MMD -MF gymtorch.o.d -DTORCH_EXTENSION_NAME=gymtorch -DTORCH_API_INCLUDE_EXTENSION_H -DPYBIND11_COMPILER_TYPE="_gcc" -DPYBIND11_STDLIB="_libstdcpp" -DPYBIND11_BUILD_ABI="_cxxabi1011" -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/TH -isystem /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/THC -isystem /home/apicoo/anaconda3/envs/Apicooig/include/python3.8 -D_GLIBCXX_USE_CXX11_ABI=0 -fPIC -std=c++17 -DTORCH_MAJOR=2 -DTORCH_MINOR=3 -c /home/apicoo/isaacgym/python/isaacgym/_bindings/src/gymtorch/gymtorch.cpp -o gymtorch.o
In file included from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/ATen/core/TensorBase.h:14:0,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/ATen/core/TensorBody.h:38,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/ATen/core/Tensor.h:3,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/ATen/Tensor.h:3,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/autograd/function_hook.h:3,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/autograd/cpp_hook.h:2,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/autograd/variable.h:6,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/autograd/autograd.h:3,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/api/include/torch/autograd.h:3,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/csrc/api/include/torch/all.h:7,
from /home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/torch/extension.h:5,
from /home/apicoo/isaacgym/python/isaacgym/_bindings/src/gymtorch/gymtorch.cpp:17:
/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/include/c10/util/C++17.h:13:2: error: #error “You’re trying to build PyTorch with a too old version of GCC. We need GCC 9 or later.”
#error
^~~~~
ninja: build stopped: subcommand failed.
Error executing job with overrides: [‘task=FrankaCabinet’]
Traceback (most recent call last):
File “/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/utils/cpp_extension.py”, line 2107, in _run_ninja_build
subprocess.run(
File “/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/subprocess.py”, line 516, in run
raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command ‘[‘ninja’, ‘-v’]’ returned non-zero exit status 1.

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File “train.py”, line 81, in launch_rlg_hydra
from isaacgymenvs.utils.rlgames_utils import multi_gpu_get_rank
File “/home/apicoo/IsaacGymEnvs/isaacgymenvs/utils/rlgames_utils.py”, line 40, in
from isaacgymenvs.tasks import isaacgym_task_map
File “/home/apicoo/IsaacGymEnvs/isaacgymenvs/tasks/init.py”, line 29, in
from .ant import Ant
File “/home/apicoo/IsaacGymEnvs/isaacgymenvs/tasks/ant.py”, line 33, in
from isaacgym import gymtorch
File “/home/apicoo/isaacgym/python/isaacgym/gymtorch.py”, line 109, in
_import_gymtorch()
File “/home/apicoo/isaacgym/python/isaacgym/gymtorch.py”, line 45, in _import_gymtorch
gt = torch.utils.cpp_extension.load(name=“gymtorch”, sources=sources, extra_cflags=cflags, verbose=True)
File “/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/utils/cpp_extension.py”, line 1309, in load
return _jit_compile(
File “/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/utils/cpp_extension.py”, line 1719, in _jit_compile
_write_ninja_file_and_build_library(
File “/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/utils/cpp_extension.py”, line 1832, in _write_ninja_file_and_build_library
_run_ninja_build(
File “/home/apicoo/anaconda3/envs/Apicooig/lib/python3.8/site-packages/torch/utils/cpp_extension.py”, line 2123, in _run_ninja_build
raise RuntimeError(message) from e
RuntimeError: Error building extension ‘gymtorch’