Run Isaac Gym in CPU mode without a CUDA capable GPU on the device

Hi! Is it possible to use Isaac Gym in CPU mode without a Nvidia GPU (no CUDA capable GPU) on the device?
I have encountered an issue when running the python examples in CPU mode and I want to know if the issue is related to the fact that there is no CUDA capable GPU on the device. Here is a screenshot of the issue:

Thank you!

Hi, were you able to resolve this issue? I also don’t have a Nividia GPU on my computer and am looking for some work-arounds to use Isaac Gym.

Yes I managed to make it work.

In a python environment, I installed pytorch for cpu from:

and cuda toolkit:

Run trainings with commands:
sim_device=cpu rl_device=cpu headless=true

For the rendering (i don’t know if it works without gpu but at least it works with amd gpu):
Install vulkan for your gpu (amd or nvidia)
Check if gpu listed with vulkan with vulkaninfo
Ensure vulkan select the correct gpu if many gpus (iGPU/dGPU):
export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/radeon_icd.i686.json:/usr/share/vulkan/icd.d/radeon_icd.x86_64.json

Run training with commands:
sim_device=cpu rl_device=cpu

The python examples of isaacgym work for me but for some reasons the RL examples of “IsaacGymEnvs” don’t work but it works with other codes using RL and Issacgym.