ISAAC SIM 安装 | Fang C. Jie

这里假设你在创建环境时已经搞定了pytorch、cuda，没有的话，安装最高版本就行（目前是2.4.0）

首先，pip安装Issac Sim

# pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118

pip install --upgrade pip

pip install isaacsim==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com
# 最小安装包
pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com

#测试是否安装成功
isaacsim 
#没有root权限的话 isaacsim --allow-root

然后同意协议，等一会，他会下载一些注册表之类的东西

By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)
in https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.html

Do you accept the EULA? (Yes/No): Yes

[Info] [carb] Logging to file: /root/.nvidia-omniverse/logs/Kit/omni.app.mini/0.1/kit_20241220_101512.log
2024-12-20 02:15:12 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.074s] Failed to solve some dependencies locally, syncing with extension registry...
[0.076s] [ext: omni.kit.async_engine-0.0.1] startup
[0.081s] [ext: omni.client-1.2.0] startup
[0.131s] [ext: omni.kit.registry.nucleus-0.0.0] startup
# ......
[7042.665s] [ext: omni.kit.clipboard-1.0.4] startup
[7042.666s] [ext: omni.kit.window.extensions-1.4.11] startup
[7042.715s] [ext: omni.app.mini-0.1.1] startup
[7042.733s] app ready
嫩久啊

然后是Isaac Lab

说在前面：git 克隆第三方库有的时候需要ssh key 权限有的时候又不要，怎么回事呢公开库的克隆是可以不要权限的，但是你得找到长的像这样的地址：

git clone https://github.com/CodeHubApp/CodeHub.git   //这种方法不需要ssh key权限
git clone git@github.com:CodeHubApp/CodeHub.git       //这种克隆方法，你需要把自己的key添加到别人的远程库里面

git clone https://github.com/isaac-sim/IsaacLab.git
# 我在这里出现了git网络错误，但是过一会又好了，推测需要设置host，即修改etc/host文件
# 可以试试http git clone http://github.com/isaac-sim/IsaacLab.git

sudo apt install cmake build-essential

然后安装RL框架，这里是可选的将安装所有学习框架

cd isaaclab
# 有可能会-bash: ./isaaclab.sh: Permission denied
# chmod -R 777 isaaclab.sh # sudo chmod -R 777 isaaclab.sh
# 全部框架
./isaaclab.sh --install # or "./isaaclab.sh -i"
# 只安装rl_games
./isaaclab.sh --install rl_games
# 可选：rsl_rl  ​sb3  ​skrl  robomimic  none

# 验证安装
# Option 1: Using the isaaclab.sh executable
# note: this works for both the bundled python and the virtual environment
./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py
# Option 2: Using python in your virtual environment
python source/standalone/tutorials/00_sim/create_empty.py

机械臂例程

这里参考robot_lab

# 独立于 Isaac Lab 安装克隆存储库（即在目录外）IsaacLab
git clone https://github.com/fan-ziqi/robot_lab.git
# 使用安装了 Isaac Lab 的 python 解释器，安装库
python -m pip install -e ./exts/robot_lab
# 通过运行以下命令打印扩展中的所有可用环境，验证扩展是否已正确安装：
python scripts/tools/list_envs.py

python scripts/rsl_rl/base/train.py --task RobotLab-Isaac-Velocity-Flat-Unitree-G1-v0 --headless --video --video_length 100 --video_interval 500 --num_envs 32 --max_iterations 10000
python3 scripts/rsl_rl/train.py --task Template-Isaac-Reach-UR10-v0 --num_envs 4096 --headless --video --video_length 100 --max_iterations 10

首先，pip安装Issac Sim

然后是Isaac Lab

机械臂例程

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