Install Isaac Gym on a Scientific Linux

Autonomous Machines Robotics - Isaac Isaac Gym
1

I want to install the Isaac gym on my school’s HPC. However, after I installed it via pip install -e ., I found that I could not import it correctly. Here are the reports.

>>> import isaacgym
Importing module 'gym_38' (/work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
[Error] [carb] [Plugin: libcarb.gym.plugin.so] Could not load the dynamic library from /work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/libcarb.gym.plugin.so. Error: /lib64/libm.so.6: version `GLIBC_2.27' not found (required by /work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/libcarb.gym.plugin.so)
[Warning] [carb] Potential plugin preload failed: /work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/libcarb.gym.plugin.so
Setting GYM_USD_PLUG_INFO_PATH to /work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json

This is my linux platform:

NAME="Scientific Linux"
VERSION="7.9 (Nitrogen)"
ID="scientific"
ID_LIKE="rhel centos fedora"
VERSION_ID="7.9"
PRETTY_NAME="Scientific Linux 7.9 (Nitrogen)"
ANSI_COLOR="0;31"
CPE_NAME="cpe:/o:scientificlinux:scientificlinux:7.9:GA"
HOME_URL="http://www.scientificlinux.org//"
BUG_REPORT_URL="mailto:scientific-linux-devel@listserv.fnal.gov"

REDHAT_BUGZILLA_PRODUCT="Scientific Linux 7"
REDHAT_BUGZILLA_PRODUCT_VERSION=7.9
REDHAT_SUPPORT_PRODUCT="Scientific Linux"
REDHAT_SUPPORT_PRODUCT_VERSION="7.9"

I want to use the SOAT Isaac gym in my project on this platform. How can I fix this problem? I really appreciate any help you can provide.

2

I tried this dirty hack to redirect the needed lib with follows.

patchelf --replace-needed libc.so.6 
/appl/glibc/2.28/haswell/lib/libc.so.6 
/work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so
patchelf --replace-needed libm.so.6 
/appl/glibc/2.28/haswell/lib/libm.so.6 
/work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so

But another problem occurred.

>>> import isaacgym
Importing module 'gym_38' (/work3/s213120/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/work3/s213120/isaacgym/python/isaacgym/__init__.py", line 5, in <module>
    from isaacgym import gymapi
  File "/work3/s213120/isaacgym/python/isaacgym/gymapi.py", line 104, in <module>
    _import_active_version()
  File "/work3/s213120/isaacgym/python/isaacgym/gymapi.py", line 63, in _import_active_version
    module = importlib.import_module(package_path)
  File "/appl/python/3.8.14/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
ImportError: /appl/glibc/2.28/haswell/lib/libc.so.6: symbol _dl_exception_create, version GLIBC_PRIVATE not defined in file ld-linux-x86-64.so.2 with link time reference