验证安装#
验证Isaac Sim安装#
通过pip安装了Isaac Sim#
确保您的虚拟环境已激活(如果适用)
检查模拟器是否按预期运行:
# note: you can pass the argument "--help" to see all arguments possible. isaacsim
默认情况下,这将启动一个空的迷你套件窗口。
要使用特定体验文件运行:
# experience files can be absolute path, or relative path searched in isaacsim/apps or omni/apps isaacsim omni.isaac.sim.python.kit
注意
第一次运行Isaac Sim时,将从注册表中提取所有依赖扩展。此过程可能需要长达10分钟,并且在每个体验文件的首次运行时是必需的。扩展被提取后,使用相同的体验文件进行连续运行将使用缓存的扩展。
此外,第一次运行将提示用户接受Nvidia Omniverse许可协议。要接受EULA,请在下面的消息提示时回复 Yes
:
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
如果在按上述说明运行模拟器时模拟器无法运行或崩溃,则意味着某些配置不正确。要进行调试和故障排除,请查看Isaac Sim 文档 和 论坛 。
通过二进制安装了Isaac Sim#
为了避免每次查找和定位Isaac Sim安装目录的开销,我们建议将以下环境变量导出到您的终端,以完成剩余的安装说明:
# Isaac Sim root directory
export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.1.0"
# Isaac Sim python executable
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
:: Isaac Sim root directory
set ISAACSIM_PATH="C:\Users\user\AppData\Local\ov\pkg\isaac-sim-4.1.0"
:: Isaac Sim python executable
set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
有关常见路径的更多信息,请查看Isaac Sim 文档 。
检查模拟器是否按预期运行:
# note: you can pass the argument "--help" to see all arguments possible. ${ISAACSIM_PATH}/isaac-sim.sh
:: note: you can pass the argument "--help" to see all arguments possible. %ISAACSIM_PATH%\isaac-sim.bat
检查模拟器是否可以从独立的python脚本运行:
# checks that python path is set correctly ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')" # checks that Isaac Sim can be launched from python ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
:: checks that python path is set correctly %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')" :: checks that Isaac Sim can be launched from python %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\omni.isaac.core\add_cubes.py
小心
如果您之前使用过Isaac Sim的旧版本,则需要在安装后 第一次 运行以下命令,以删除所有旧用户数据和缓存变量:
${ISAACSIM_PATH}/isaac-sim.sh --reset-user
%ISAACSIM_PATH%\isaac-sim.bat --reset-user
如果在按上述说明运行模拟器时模拟器无法运行或崩溃,则意味着某些配置不正确。要进行调试和故障排除,请查看Isaac Sim 文档 和 论坛 。
验证Isaac Lab安装#
要验证安装是否成功,请从存储库顶部运行以下命令:
# 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
:: Option 1: Using the isaaclab.bat executable
:: note: this works for both the bundled python and the virtual environment
isaaclab.bat -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
上述命令应该启动模拟器,并显示一个带有黑色地面平面的窗口。您可以通过在终端上按 Ctrl+C
来退出脚本。在Windows机器上,请使用 Ctrl+Break
或 Ctrl+fn+B
在命令提示符中终止进程。
如果您看到这个,那么安装成功了! 🎉