Nvidia Orbit 仿真器环境配置

安装 Isaac Sim

基础工作

1.  System Requirements 和 Isaac Sim Driver Requirements

检查电脑系统、硬件和显卡驱动是否达到最低标准

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2. 下载 Omniverse Launcher

3. 安装 Omniverse Launcher

4. 在 Omniverse Launcher 里安装 Cache

5. 在 Omniverse Launcher 里安装 Nucleus

6. 在 Omniverse Launcher 的 Exchange 里安装 Issac Sim

配置Issac Sim环境变量

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# Isaac Sim root directory
export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac_sim-20xx.x.x"
# Isaac Sim python executable
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

🚨 注意：这里的${HOME}$和${ISAACSIM_PATH}$请使用绝对路径，否则后续可能出现报错。

安装 Orbit

准备工作

1. Git Clone Repo

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# Option 1: With SSH
git clone git@github.com:NVIDIA-Omniverse/orbit.git
# Option 2: With HTTPS
git clone https://github.com/NVIDIA-Omniverse/orbit.git

2. 创建索引连接

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# enter the cloned repository
cd orbit
# create a symbolic link
ln -s ${ISAACSIM_PATH} _isaac_sim

创建 Conda 环境

1. 创建环境与自定义环境名称

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# Option 1: Default name for conda environment is 'orbit'
./orbit.sh --conda  # or "./orbit.sh -c"
# Option 2: Custom name for conda environment
./orbit.sh --conda my_env  # or "./orbit.sh -c my_env"

2. 启动环境

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conda activate orbit  # or "conda activate my_env"

配置拓展

1. 依赖库安装

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sudo apt install cmake build-essential

2. 拓展安装

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./orbit.sh --install  # or "./orbit.sh -i"

🚨 注意：安装最后命令行终端可能会有报错，请查看！我安装时候的报错是某些包没有安装，需要手动pip或者conda配置。

3. 安装其他拓展

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# Option 1: Install all dependencies
./orbit.sh --extra  # or "./orbit.sh -e"
# Option 2: Install only a subset of dependencies
# note: valid options are 'rl_games', 'rsl_rl', 'sb3', 'robomimic', 'all'
./orbit.sh --extra rsl_rl  # or "./orbit.sh -e rsl_r"

验证安装

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# Option 1: Using the orbit.sh executable
# note: this works for both the bundled python and the virtual environment
./orbit.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

第一次启动会比较缓慢，耐心等待，命令行终端出现RTX on就快要出现以下UI界面了！

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