Nightly

The nightly channel contains the most recent updates of the project. As described in the support policy, this channel requires building Gz from sources.

We publish updated nightly packages after any pull request merged in the devel branch.

Virtual Environment (optional)

This step is optional but highly recommended. Visit the virtual environments documentation for more details.

sudo apt install virtualenv
virtualenv -p python3.8 $HOME/venv
source $HOME/venv/bin/activate

Note that the activation is temporary and it is valid only in the same terminal. Make sure to execute the next steps in a terminal where the virtual environment is active.

PyPI Package

We provide two different packages for ScenarIO and gym-gz.

If you are interested in the ScenarIO package, install the scenario package from PyPI:

pip install --pre scenario

Instead, if you are interested in gym-gz, install the gym-gz package from PyPI:

pip install --pre scenario gym-gz

Note that in this case, specifying also the scenario dependency is necessary, otherwise pip will pull the stable package from PyPI.

System Configuration

This section applies only to the installations that require building Gz from sources.

If you installed Gz from sources, you likely used colcon and therefore the entire suite was installed in a custom folder called workspace. The workspace contains all the shared libraries and executables of Gz, including the plugins loaded during runtime. Since we cannot know in advance where you created the workspace, gym-gz is not able to find the physics plugins.

After you enabled the workspace by sourcing its bash script, you may need to also export the following variable:

export GZ_SIM_PHYSICS_ENGINE_PATH=${GZ_SIM_PHYSICS_ENGINE_PATH}:${COLCON_PREFIX_PATH}/lib/ign-physics-3/engine-plugins/

Make sure to select the folder corresponding to the correct version of ign-physics, otherwise the wrong plugins are found.