Isaac Sim 4.5.0 + Isaac Lab 2.0.0

目前最新版本的 ROS2GO 的关键信息

系统版本为 Ubuntu 20.04 LTS
内核版本为 6.11.6-ros2go
Nvidia Driver 版本为 555.42.06
系统默认的 python 版本为 3.8.10

Isaac Sim 4.5.0 安装

硬件配置要求

运行兼容性检查

可以使用Isaac Sim Compatibility Checker工具检查是否满足 Isaac Sim 的硬件配置要求

bash

# 下载 isaac sim 4.5.0 的兼容性检查工具
curl -LJO https://download.isaacsim.omniverse.nvidia.com/isaac-sim-comp-check%404.5.0-rc.6%2Brelease.675.f1cca148.gl.linux-x86_64.release.zip

# 解压 isaac sim 4.5.0 的兼容性检查工具
unzip -d ~/isaacsim_ws/isaac-sim-comp-check@4.5.0 isaac-sim-comp-check%404.5.0-rc.6%2Brelease.675.f1cca148.gl.linux-x86_64.release.zip

# 运行 isaac sim 4.5.0 的兼容性检查工具
cd ~/isaacsim_ws/isaac-sim-comp-check@4.5.0 && ./omni.isaac.sim.compatibility_check.sh

安装下载

从 isaac sim 官网下载 isaac sim 4.5.0和 asset 资产文件 https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html

下载 isaac sim Asset

Issac sim 4.2.0 Asset 资产下载

下载完成后按照如下路径解压，合并 3 个资产文件，便于后续使用

最后完成的 Asset 路径和目录结构如下

bash

(.ros2) tianbot@ros2go:~/Downloads/Assets/IsaacSim/Assets/Isaac/4.5$ ls
Isaac  NVIDIA

下载 zip 安装包

bash

cd ~/isaacsim_ws/
curl -LJO https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip
unzip -d isaac-sim-standalone@4.5.0 isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip

下载 isaac lab

Download isaac lab 2.0

bash

cd ~/isaacsim_ws/
curl -LJO https://github.com/isaac-sim/IsaacLab/archive/refs/tags/v2.0.0.zip
unzip -d IsaacLab-2.0.0 v2.0.0.zip

安装 ISAAC SIM

配置环境变量

bash

# add ros2 humble path
source $(ros2go_switch -v 2)

# add python3.10 path when Isaac Lab is need
export PATH=~/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/python/bin:$PATH

# vk_icd_filenames
export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json

# Isaac Sim root directory
export ISAACSIM_PATH="${HOME}/isaacsim_ws/isaac-sim-standalone@4.5.0"

# Isaac Sim python executable
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

创建 `isaac sim` 在 `isaac lab` 中的链接

bash

cd isaacsim_ws/IsaacLab-2.0.0/ && ln -s ~/isaacsim_ws/isaac-sim-standalone4.5.0 _isaac_sim

此时开启 Isaac Sim

bash

${ISAACSIM_PATH}/isaac-sim.selector.sh

提示

可以通过添加--help来查看所有参数可用

bash

${ISAACSIM_PATH}/isaac-sim.selector.sh --help

选择完成之后，点击 START，Isaac Sim 选择器窗口会自动关闭，此时即可等待 Isaac Sim 启动成功。

安装 Isaac Lab

切换 pip 源

bash

mkdir ~/.pip && touch ~/.pip/pip.conf
gedit ~/.pip/pip.conf

填入如下内容后保存，然后关闭文件。

pip.conf

bash

[global]
index-url = https://pypi.tuna.tsinghua.edu.cn/simple
[install]
trusted-host = https://pypi.tuna.tsinghua.edu.cn

确定 python3 版本和路径

由于ROS2GO中的ros2go默认使用的是python3.8，所以为了既不影响ROS2GO依赖python3.8 的应用运行，又可以正常安装Isaac Lab，满足其3.10版本的需求。我们需要确保在使用时将 python3 映射为 isaac_sim 4.5.0 中的自带的 python3.10，这里需要先确定python3的版本和路径，然后才能进行下一步的安装。

这里采用一种比较简单的方式，修改系统环境变量PATH，将 python3 映射为 isaac_sim 4.5.0 中的自带的 python3.10，在进行下一步的安装。

bash

export PATH=~/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/python/bin:$PATH

bash

which python3
whereis pip
whereis python3
python3 -m pip --version

注意

要确保 python3 版本为 3.10.0，其路径为/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/python/bin/python3

bash

(.ros2) tianbot@ros2go:~$ which python3
/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/python/bin/python3

否则会出现一些错误could not import ....的问题，因为python3版本不对，导致安装的模块的路径不对，导致无法正常运行。

1.安装 pytorch

bash

python3.10 -m pip install torch==2.5.1  #  for cuda 12

2.安装 rsl-rl-lib

bash

python3.10 -m pip install rsl-rl-lib@git+https://github.com/leggedrobotics/rsl_rl.git

3.Isaac Lab

bash

cd isaacsim_ws/IsaacLab-2.0.0/ && ./isaaclab.sh --install # or "./isaaclab.sh -i"

创建 nvidia_icd.json

bash

sudo gedit /usr/share/vulkan/icd.d/nvidia_icd.json

/usr/share/vulkan/icd.d/nvidia_icd.json

json

{
    "file_format_version" : "1.0.0",
    "ICD": {
        "library_path": "libGLX_nvidia.so.0",
        "api_version" : "1.3.278"
    }
}

修改~/.bashrc

bash

sudo gedit ~/.bashrc

将如下内容添加到文件中，然后关闭文件。

bash

export PATH=~/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/python/bin/:$PATH

export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json

# Isaac Sim root directory
export ISAACSIM_PATH="${HOME}/isaacsim_ws/isaac-sim-standalone@4.5.0"

# Isaac Sim python executable
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

实例测试

bash

cd isaacsim_ws/IsaacLab-2.0.0/ && python3 scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0
Traceback (most recent call last):
  File "/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/scripts/reinforcement_learning/rsl_rl/train.py", line 13, in <module>
    from isaaclab.app import AppLauncher
  File "/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/source/isaaclab/isaaclab/app/__init__.py", line 15, in <module>
    from .app_launcher import AppLauncher  # noqa: F401, F403
  File "/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/source/isaaclab/isaaclab/app/app_launcher.py", line 27, in <module>
    from isaacsim import SimulationApp
ModuleNotFoundError: No module named 'isaacsim'

大体猜一下，估计是PYTHONPATH没有设置正确isaacsim的路径导致的。

bash


(.ros2) tianbot@ros2go:~/isaacsim_ws/IsaacLab-2.0.0$ python3 scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0
Traceback (most recent call last):
  File "/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/scripts/reinforcement_learning/rsl_rl/train.py", line 13, in <module>
    from isaaclab.app import AppLauncher
  File "/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/source/isaaclab/isaaclab/app/__init__.py", line 15, in <module>
    from .app_launcher import AppLauncher  # noqa: F401, F403
  File "/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/source/isaaclab/isaaclab/app/app_launcher.py", line 27, in <module>
    from isaacsim import SimulationApp
ModuleNotFoundError: No module named 'isaacsim'
(.ros2) tianbot@ros2go:~/isaacsim_ws/IsaacLab-2.0.0$ echo $PYTHONPATH
/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/python/lib/python3.10/site-packages/:/home/tianbot/.ros2/lib/python/site-packages:/home/tianbot/ros2_study_ws/install/learning_urdf/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_topic/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_tf/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_service/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_qos/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_pkg_python/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_parameter/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_node/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_launch/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_action/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_interface/lib/python3.8/site-packages:/home/tianbot/ros2_study_ws/install/learning_gazebo/lib/python3.8/site-packages:/opt/ros/humble/lib/python3.9/site-packages:/opt/ros/humble/lib/python3.8/site-packages

解决方法：

bash

(.ros2) tianbot@ros2go:~/isaacsim_ws/IsaacLab-2.0.0$ source ~/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/setup_conda_env.sh
(.ros2) tianbot@ros2go:~/isaacsim_ws/IsaacLab-2.0.0$ echo $PYTHONPATH
/home/tianbot/.ros2/lib/python/site-packages:/opt/ros/humble/lib/python3.9/site-packages:/opt/ros/humble/lib/python3.8/site-packages:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/python_packages:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/exts/isaacsim.simulation_app:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/extsDeprecated/omni.isaac.kit:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/kernel/py:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/kit/plugins/bindings-python:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/exts/isaacsim.robot_motion.lula/pip_prebundle:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/exts/isaacsim.asset.exporter.urdf/pip_prebundle:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/extscache/omni.kit.pip_archive-0.0.0+d02c707b.lx64.cp310/pip_prebundle:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/exts/omni.isaac.core_archive/pip_prebundle:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/exts/omni.isaac.ml_archive/pip_prebundle:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/exts/omni.pip.compute/pip_prebundle:/home/tianbot/isaacsim_ws/IsaacLab-2.0.0/_isaac_sim/exts/omni.pip.cloud/pip_prebundle

此时再运行train.py，发现可以正常运行了。

bash

(.ros2) tianbot@ros2go:~/isaacsim_ws/IsaacLab-2.0.0$ python3 scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0
[INFO][AppLauncher]: Loading experience file: /home/tianbot/isaacsim_ws/IsaacLab-2.0.0/apps/isaaclab.python.kit
Loading user config located at: '/home/tianbot/isaacsim_ws/isaac-sim-standalone@4.5.0/kit/data/Kit/Isaac-Sim/4.5/user.config.json'
[Info] [carb] Logging to file: /home/tianbot/isaacsim_ws/isaac-sim-standalone@4.5.0/kit/logs/Kit/Isaac-Sim/4.5/kit_20250213_180727.log
2025-02-13 10:07:27 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.043s] [ext: omni.kit.async_engine-0.0.1] startup
[0.279s] [ext: omni.metrics.core-0.0.1] startup
[0.279s] [ext: omni.client.lib-1.0.0] startup
...............

虽然可以正常运行，但是发现会停留在[INFO]: Starting the simulation. This may take a few seconds. Please wait...处

bash

Loading user config located at: '/home/tianbot/isaacsim_ws/isaac-sim-standalone@4.5.0/kit/data/Kit/Isaac-Sim/4.5/user.config.json'`这一步，无法继续运行下去。

[2025-02-14 13:40:59,479][ogn_registration][INFO] - Registering Python Node Types from omni.physxfabric at /home/tianbot/isaacsim_ws/isaac-sim-standalone@4.5.0/extsPhysics/omni.physx.fabric in omni.physx.fabric
[2025-02-14 13:40:59,479][ogn_registration][INFO] - ========================================================================================================================
[2025-02-14 13:40:59,480][ogn_registration][INFO] - No dependency on omni.graph, therefore no nodes to register in omni.physx.fabric
[2025-02-14 13:40:59,480][ogn_registration][INFO] - ...None found, no registration to do
[2025-02-14 13:40:59,480][ogn_registration][INFO] - ...Skipping: No OmniGraph presence in the module omni.physxfabric - No nodes in this module, do not remember it
[2025-02-14 13:40:59,480][ogn_registration][INFO] - Destroying registration record for omni.physx.fabric
[2025-02-14 13:40:59,481][ogn_registration][INFO] - OGN register omni.physx.fabric-106.5.7 took 2095135.000000
[INFO]: Base environment:
	Environment device    : cuda:0
	Environment seed      : 42
	Physics step-size     : 0.008333333333333333
	Rendering step-size   : 0.016666666666666666
	Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 1.854712 seconds
[INFO]: Scene manager:  <class InteractiveScene>
	Number of environments: 4096
	Environment spacing   : 5.0
	Source prim name      : /World/envs/env_0
	Global prim paths     : ['/World/ground']
	Replicate physics     : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...

这时由于需要连接 ominiverse 下载IsaacSim Asset资产文件，所以会卡在[INFO]: Starting the simulation. This may take a few seconds. Please wait...处，无法继续运行下去。

修改 IsaacSim Asset 加载路径

所以为了解决这个问题，需要修改Isaac Lab中的IsaacSim Asset的加载路径。

需要修改文件

~/isaacsim_ws/IsaacLab-2.0.0/source/isaaclab/isaaclab/utils/assets.py

diff

# 修改为
- NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")
+ NUCLEUS_ASSET_ROOT_DIR = "/home/tianbot/Downloads/Assets/IsaacSim/Assets/Isaac/4.5" # your IsaacSim Asset path

# 下面照旧即可
"""Path to the root directory on the Nucleus Server."""

NVIDIA_NUCLEUS_DIR = f"{NUCLEUS_ASSET_ROOT_DIR}/NVIDIA"
"""Path to the root directory on the NVIDIA Nucleus Server."""

ISAAC_NUCLEUS_DIR = f"{NUCLEUS_ASSET_ROOT_DIR}/Isaac"
"""Path to the ``Isaac`` directory on the NVIDIA Nucleus Server."""

ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab"
"""Path to the ``Isaac/IsaacLab`` directory on the NVIDIA Nucleus Server."""

~/isaac-sim-standalone@4.5.0/exts/isaacsim.asset.browser/cache/isaacsim.asset.browser.cache.json

diff

      - "url": "/home/tianbot/Downloads/Assets/IsaacSim/Assets/Isaac/4.5/Isaac/Robots",
      + "url": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Robots",

~/home/tianbot/isaacsim_ws/isaac-sim-standalone@4.5.0/exts/isaacsim.asset.browser/config/extension.toml

其中的asset_root修改方法类似，不再赘述。

修改并保存后，重新运行，发现可以流畅的玩耍了。

bash

(.ros2) tianbot@ros2go:~/isaacsim_ws/IsaacLab-2.0.0$ python3 scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0`

常见问题

isaacsim.asset.browser/cache 问题

开始下载
下载成功
重启 isaac sim

激光 SLAM 开发指南

基于优化

开源项目相关

Nvidia Isaac 生态相关

Isaac Sim 4.5.0 + Isaac Lab 2.0.0

Isaac Sim 4.5.0 安装

运行兼容性检查

相关文档

安装下载

下载 isaac sim Asset

下载 zip 安装包

下载 isaac lab

安装 ISAAC SIM

配置环境变量

创建 `isaac sim` 在 `isaac lab` 中的链接

此时开启 Isaac Sim

安装 Isaac Lab

切换 pip 源

确定 python3 版本和路径

1.安装 pytorch

2.安装 rsl-rl-lib

3.Isaac Lab

创建 nvidia_icd.json

修改~/.bashrc

实例测试

修改 IsaacSim Asset 加载路径

常见问题

isaacsim.asset.browser/cache 问题

PYTHONPATH 问题

1. `ModuleNotFoundError: No module named 'isaacsim'`

Reference:

Isaac Sim 4.5.0 + Isaac Lab 2.0.0 ​

Isaac Sim 4.5.0 安装 ​

运行兼容性检查 ​

相关文档 ​

安装下载 ​

下载 isaac sim Asset ​

下载 zip 安装包 ​

下载 isaac lab ​

安装 ISAAC SIM ​

配置环境变量 ​

创建 isaac sim 在 isaac lab 中的链接 ​

此时开启 Isaac Sim ​

安装 Isaac Lab ​

切换 pip 源 ​

确定 python3 版本和路径 ​

1.安装 pytorch ​

2.安装 rsl-rl-lib ​

3.Isaac Lab ​

创建 nvidia_icd.json ​

修改~/.bashrc ​

实例测试 ​

修改 IsaacSim Asset 加载路径 ​

常见问题 ​

isaacsim.asset.browser/cache 问题 ​

PYTHONPATH 问题 ​

1. ModuleNotFoundError: No module named 'isaacsim' ​

Reference: ​

Isaac Sim 4.5.0 + Isaac Lab 2.0.0

Isaac Sim 4.5.0 安装

运行兼容性检查

相关文档

安装下载

下载 isaac sim Asset

下载 zip 安装包

下载 isaac lab

安装 ISAAC SIM

配置环境变量

创建 `isaac sim` 在 `isaac lab` 中的链接

此时开启 Isaac Sim

安装 Isaac Lab

切换 pip 源

确定 python3 版本和路径

1.安装 pytorch

2.安装 rsl-rl-lib

3.Isaac Lab

创建 nvidia_icd.json

修改~/.bashrc

实例测试

修改 IsaacSim Asset 加载路径

常见问题

isaacsim.asset.browser/cache 问题

PYTHONPATH 问题

1. `ModuleNotFoundError: No module named 'isaacsim'`

Reference: