一、IsaacSim的安装
1、建立虚拟环境，制定python版本：
conda create -n isaacsim python=3.10 -y
2、安装Isaac Sim
pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com
3、安装扩展依赖项
Install Isaac Sim - Python packages cached extension dependencies (optional)
pip install 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
4、验证 Isaac Sim installation
isaacsim
结果如下：
(isaacsim) C:\Users\Admin>isaacsimBy installing or using Omniverse Kit, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)
in https://docs.omniverse.nvidia.com/platform/latest/common/NVIDIA_Omniverse_License_Agreement.htmlDo you accept the EULA? (Yes/No): y
The EULA was accepted.[Info] [carb] Logging to file: C:/Users/Admin/.nvidia-omniverse/logs/Kit/omni.app.mini/0.1/kit_20241202_215648.log
2024-12-02 13:56:48 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.121s] Failed to solve some dependencies locally, syncing with extension registry...
[0.123s] [ext: omni.kit.async_engine-0.0.1] startup
[0.138s] [ext: omni.client-1.2.0] startup
[0.174s] [ext: omni.kit.registry.nucleus-0.0.0] startup
syncing registry: 'https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared/v2' Downloading 351 files...
syncing registry: 'https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/106.1/10a4b5c0/v2' Downloading 287 files...
[10.789s] Pulling extension: `omni.stats-1.0.1` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.stats-8372729feec9b0a1.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpkwjugadd/omni.stats-1.0.1+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpkwjugadd/omni.stats-1.0.1+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.stats-8372729feec9b0a1
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.stats-1.0.1+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.stats-8372729feec9b0a1
[omni.kit.registry.nucleus]: pruning global extensions cache: C:/Users/Admin/AppData/Local/ov/data/exts/v2
[omni.kit.registry.nucleus]: global extensions cache pruned: 0 links removed, 0 extensions removed
[13.732s] Extension: `omni.stats-1.0.1` was installed.
[13.732s] Pulling extension: `omni.gpu_foundation.shadercache.d3d12-1.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.gpu_foundation.shadercache.d3d12-dc3bc7cd06544659.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmphx7r45o4/omni.gpu_foundation.shadercache.d3d12-1.0.0+10a4b5c0.wx64.r.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.gpu_foundation.shadercache.d3d12-dc3bc7cd06544659.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmphx7r45o4/omni.gpu_foundation.shadercache.d3d12-1.0.0+10a4b5c0.wx64.r.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmphx7r45o4/omni.gpu_foundation.shadercache.d3d12-1.0.0+10a4b5c0.wx64.r.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.gpu_foundation.shadercache.d3d12-dc3bc7cd06544659
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.gpu_foundation.shadercache.d3d12-1.0.0+10a4b5c0.wx64.r -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.gpu_foundation.shadercache.d3d12-dc3bc7cd06544659
[171.356s] Extension: `omni.gpu_foundation.shadercache.d3d12-1.0.0` was installed.
[171.356s] Pulling extension: `omni.gpu_foundation-0.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.gpu_foundation-894d449bad5923e0.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpz5___6d1/omni.gpu_foundation-0.0.0+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpz5___6d1/omni.gpu_foundation-0.0.0+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.gpu_foundation-894d449bad5923e0
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.gpu_foundation-0.0.0+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.gpu_foundation-894d449bad5923e0
[183.834s] Extension: `omni.gpu_foundation-0.0.0` was installed.
[183.834s] Pulling extension: `carb.windowing.plugins-1.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/carb.windowing.plugins-30f20d4eb64ca6dd.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpywkeu5k0/carb.windowing.plugins-1.0.0+10a4b5c0.wx64.r.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpywkeu5k0/carb.windowing.plugins-1.0.0+10a4b5c0.wx64.r.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/carb.windowing.plugins-30f20d4eb64ca6dd
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/carb.windowing.plugins-1.0.0+10a4b5c0.wx64.r -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/carb.windowing.plugins-30f20d4eb64ca6dd
[184.165s] Extension: `carb.windowing.plugins-1.0.0` was installed.
[184.165s] Pulling extension: `omni.kit.renderer.init-0.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.renderer.init-d48079395c97be3d.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpabk9yb4y/omni.kit.renderer.init-0.0.0+10a4b5c0.wx64.r.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpabk9yb4y/omni.kit.renderer.init-0.0.0+10a4b5c0.wx64.r.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.init-d48079395c97be3d
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.renderer.init-0.0.0+10a4b5c0.wx64.r -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.init-d48079395c97be3d
[184.389s] Extension: `omni.kit.renderer.init-0.0.0` was installed.
[184.389s] Pulling extension: `omni.kit.loop-default-0.2.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.loop-default-cdb0bd1fff511b81.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmp36cl6bbt/omni.kit.loop-default-0.2.0+10a4b5c0.wx64.r.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmp36cl6bbt/omni.kit.loop-default-0.2.0+10a4b5c0.wx64.r.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.loop-default-cdb0bd1fff511b81
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.loop-default-0.2.0+10a4b5c0.wx64.r -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.loop-default-cdb0bd1fff511b81
[184.618s] Extension: `omni.kit.loop-default-0.2.0` was installed.
[184.618s] Pulling extension: `omni.appwindow-1.1.8` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.appwindow-3110a8ce2fa84aa9.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmptvtaeku2/omni.appwindow-1.1.8+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmptvtaeku2/omni.appwindow-1.1.8+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.appwindow-3110a8ce2fa84aa9
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.appwindow-1.1.8+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.appwindow-3110a8ce2fa84aa9
[184.857s] Extension: `omni.appwindow-1.1.8` was installed.
[184.857s] Pulling extension: `omni.kit.renderer.core-1.0.2` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.renderer.core-b29fb754dc403b2c.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpmwfcww6u/omni.kit.renderer.core-1.0.2+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpmwfcww6u/omni.kit.renderer.core-1.0.2+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.core-b29fb754dc403b2c
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.renderer.core-1.0.2+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.core-b29fb754dc403b2c
[185.166s] Extension: `omni.kit.renderer.core-1.0.2` was installed.
[185.166s] Pulling extension: `omni.kit.renderer.capture-0.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.renderer.capture-1be8f22e1060c593.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpthr4d3ya/omni.kit.renderer.capture-0.0.0+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpthr4d3ya/omni.kit.renderer.capture-0.0.0+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.capture-1be8f22e1060c593
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.renderer.capture-0.0.0+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.capture-1be8f22e1060c593
[185.441s] Extension: `omni.kit.renderer.capture-0.0.0` was installed.
[185.441s] Pulling extension: `omni.kit.renderer.imgui-1.0.1` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.renderer.imgui-cae903b68a89140b.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpxr222ipq/omni.kit.renderer.imgui-1.0.1+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpxr222ipq/omni.kit.renderer.imgui-1.0.1+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.imgui-cae903b68a89140b
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.renderer.imgui-1.0.1+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.renderer.imgui-cae903b68a89140b
[186.051s] Extension: `omni.kit.renderer.imgui-1.0.1` was installed.
[186.051s] Pulling extension: `omni.ui-2.25.22` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.ui-08abfe17aa8be1fe.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmp5nwerdu1/omni.ui-2.25.22+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmp5nwerdu1/omni.ui-2.25.22+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.ui-08abfe17aa8be1fe
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.ui-2.25.22+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.ui-08abfe17aa8be1fe
[186.580s] Extension: `omni.ui-2.25.22` was installed.
[186.581s] Pulling extension: `omni.kit.mainwindow-1.0.3` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.mainwindow-f49ef760173b073d.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmptyoxrteh/omni.kit.mainwindow-1.0.3+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.mainwindow-f49ef760173b073d.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmptyoxrteh/omni.kit.mainwindow-1.0.3+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmptyoxrteh/omni.kit.mainwindow-1.0.3+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.mainwindow-f49ef760173b073d
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.mainwindow-1.0.3+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.mainwindow-f49ef760173b073d
[550.381s] Extension: `omni.kit.mainwindow-1.0.3` was installed.
[550.381s] Pulling extension: `carb.audio-0.1.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/carb.audio-a2922e04e0bb27dc.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpbpz__wq7/carb.audio-0.1.0+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/carb.audio-a2922e04e0bb27dc.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpbpz__wq7/carb.audio-0.1.0+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpbpz__wq7/carb.audio-0.1.0+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/carb.audio-a2922e04e0bb27dc
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/carb.audio-0.1.0+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/carb.audio-a2922e04e0bb27dc
[859.770s] Extension: `carb.audio-0.1.0` was installed.
[859.770s] Pulling extension: `omni.uiaudio-1.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.uiaudio-769ae50159dab43b.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmp35upm5aa/omni.uiaudio-1.0.0+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmp35upm5aa/omni.uiaudio-1.0.0+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.uiaudio-769ae50159dab43b
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.uiaudio-1.0.0+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.uiaudio-769ae50159dab43b
[860.066s] Extension: `omni.uiaudio-1.0.0` was installed.
[860.066s] Pulling extension: `omni.kit.uiapp-0.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.uiapp-c1a6d0e6c70ce3f8.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpai8ia3zw/omni.kit.uiapp-0.0.0+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.uiapp-c1a6d0e6c70ce3f8.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpai8ia3zw/omni.kit.uiapp-0.0.0+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpai8ia3zw/omni.kit.uiapp-0.0.0+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.uiapp-c1a6d0e6c70ce3f8
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.uiapp-0.0.0+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.uiapp-c1a6d0e6c70ce3f8
[1204.002s] Extension: `omni.kit.uiapp-0.0.0` was installed.
[1204.002s] Pulling extension: `omni.kit.menu.core-1.0.4` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.menu.core-f54fd54e1dd2d1ef.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmprj94gtu3/omni.kit.menu.core-1.0.4+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmprj94gtu3/omni.kit.menu.core-1.0.4+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.menu.core-f54fd54e1dd2d1ef
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.menu.core-1.0.4+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.menu.core-f54fd54e1dd2d1ef
[1506.884s] Extension: `omni.kit.menu.core-1.0.4` was installed.
[1506.884s] Pulling extension: `omni.kit.actions.core-1.0.0` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.actions.core-e0e9f389dfdd5ebe.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpkwtr_w8d/omni.kit.actions.core-1.0.0+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpkwtr_w8d/omni.kit.actions.core-1.0.0+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.actions.core-e0e9f389dfdd5ebe
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.actions.core-1.0.0+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.actions.core-e0e9f389dfdd5ebe
[1507.400s] Extension: `omni.kit.actions.core-1.0.0` was installed.
[1507.400s] Pulling extension: `omni.kit.widget.options_menu-1.1.6` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.widget.options_menu-ac69706d4862da3a.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmp1wfg24z8/omni.kit.widget.options_menu-1.1.6+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.widget.options_menu-ac69706d4862da3a.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmp1wfg24z8/omni.kit.widget.options_menu-1.1.6+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmp1wfg24z8/omni.kit.widget.options_menu-1.1.6+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.widget.options_menu-ac69706d4862da3a
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.widget.options_menu-1.1.6+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.widget.options_menu-ac69706d4862da3a
[1857.236s] Extension: `omni.kit.widget.options_menu-1.1.6` was installed.
[1857.236s] Pulling extension: `omni.kit.menu.utils-1.5.27` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.menu.utils-30bef72536f554e3.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpln7gnu_s/omni.kit.menu.utils-1.5.27+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.menu.utils-30bef72536f554e3.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpln7gnu_s/omni.kit.menu.utils-1.5.27+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpln7gnu_s/omni.kit.menu.utils-1.5.27+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.menu.utils-30bef72536f554e3
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.menu.utils-1.5.27+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.menu.utils-30bef72536f554e3
[2170.135s] Extension: `omni.kit.menu.utils-1.5.27` was installed.
[2170.135s] Pulling extension: `omni.kit.widget.filter-1.1.4` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.widget.filter-50108eb4278d4964.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpkgmd4fj2/omni.kit.widget.filter-1.1.4+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpkgmd4fj2/omni.kit.widget.filter-1.1.4+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.widget.filter-50108eb4278d4964
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.widget.filter-1.1.4+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.widget.filter-50108eb4278d4964
[2254.027s] Extension: `omni.kit.widget.filter-1.1.4` was installed.
[2254.027s] Pulling extension: `omni.kit.widget.searchfield-1.1.8` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.widget.searchfield-b7441d3e4baeca74.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpq_x5ufi1/omni.kit.widget.searchfield-1.1.8+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.widget.searchfield-b7441d3e4baeca74.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpq_x5ufi1/omni.kit.widget.searchfield-1.1.8+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpq_x5ufi1/omni.kit.widget.searchfield-1.1.8+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.widget.searchfield-b7441d3e4baeca74
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.widget.searchfield-1.1.8+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.widget.searchfield-b7441d3e4baeca74
[2583.402s] Extension: `omni.kit.widget.searchfield-1.1.8` was installed.
[2583.403s] Pulling extension: `omni.kit.commands-1.4.9` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.commands-fb5528f1a0d8f372.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmp9tvobryy/omni.kit.commands-1.4.9+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmp9tvobryy/omni.kit.commands-1.4.9+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.commands-fb5528f1a0d8f372
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.commands-1.4.9+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.commands-fb5528f1a0d8f372
[2583.843s] Extension: `omni.kit.commands-1.4.9` was installed.
[2583.843s] Pulling extension: `omni.kit.clipboard-1.0.4` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.clipboard-4ea15acc353e187a.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpy822r_wq/omni.kit.clipboard-1.0.4+10a4b5c0.wx64.r.cp310.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpy822r_wq/omni.kit.clipboard-1.0.4+10a4b5c0.wx64.r.cp310.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.clipboard-4ea15acc353e187a
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.clipboard-1.0.4+10a4b5c0.wx64.r.cp310 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.clipboard-4ea15acc353e187a
[2584.089s] Extension: `omni.kit.clipboard-1.0.4` was installed.
[2584.089s] Pulling extension: `omni.kit.window.extensions-1.4.11` from the registry.
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'http://d4i3qtqj3r0z5.cloudfront.net/omni.kit.window.extensions-9ac4dca11df0aab9.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpy8p9qf79/omni.kit.window.extensions-1.4.11+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] downloading: 'https://d4i3qtqj3r0z5.cloudfront.net/omni.kit.window.extensions-9ac4dca11df0aab9.zip' -> 'C:/Users/Admin/AppData/Local/Temp/tmpy8p9qf79/omni.kit.window.extensions-1.4.11+10a4b5c0.zip'...
[omni.kit.registry.nucleus] [tid: 22692] unpacking: C:/Users/Admin/AppData/Local/Temp/tmpy8p9qf79/omni.kit.window.extensions-1.4.11+10a4b5c0.zip -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.window.extensions-9ac4dca11df0aab9
[omni.kit.registry.nucleus] [tid: 22692] creating a link: c:/users/admin/appdata/local/ov/data/kit/omni.app.mini/0.1/exts/3/omni.kit.window.extensions-1.4.11+10a4b5c0 -> C:/Users/Admin/AppData/Local/ov/data/exts/v2/omni.kit.window.extensions-9ac4dca11df0aab9
[3021.733s] Extension: `omni.kit.window.extensions-1.4.11` was installed.
[3021.766s] [ext: omni.stats-1.0.1] startup
[3021.827s] [ext: omni.gpu_foundation.shadercache.d3d12-1.0.0] startup
[3021.876s] [ext: omni.assets.plugins-0.0.0] startup
[3021.882s] [ext: omni.gpu_foundation-0.0.0] startup
[3022.358s] [ext: carb.windowing.plugins-1.0.0] startup
[3022.436s] [ext: omni.kit.renderer.init-0.0.0] startup
[3022.458s] [ext: omni.kit.loop-default-0.2.0] startup
[3022.479s] [ext: omni.appwindow-1.1.8] startup
[3022.531s] [ext: omni.kit.renderer.core-1.0.2] startup
[3022.616s] [ext: omni.kit.renderer.capture-0.0.0] startup
[3022.697s] [ext: omni.kit.renderer.imgui-1.0.1] startup
[3022.984s] [ext: omni.ui-2.25.22] startup
[3023.111s] [ext: omni.kit.mainwindow-1.0.3] startup
2024-12-02 14:47:11 [3,023,016ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630
[3023.137s] [ext: carb.audio-0.1.0] startup
[3023.174s] [ext: omni.uiaudio-1.0.0] startup
2024-12-02 14:47:11 [3,023,111ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630
[3023.227s] [ext: omni.kit.uiapp-0.0.0] startup
[3023.228s] [ext: omni.kit.menu.core-1.0.4] startup
[3023.251s] [ext: omni.kit.actions.core-1.0.0] startup
[3023.330s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[3023.439s] [ext: omni.kit.menu.utils-1.5.27] startup
[3023.546s] [ext: omni.kit.widget.filter-1.1.4] startup|---------------------------------------------------------------------------------------------|
| Driver Version: 560.94 | Graphics API: D3D12
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | Intel(R) UHD Graphics 630 | | | 128 MB | 8086 | 90fd0000.. |
| | | | | | 9bc5 | 0 |
| | | | | | N/A | |
|---------------------------------------------------------------------------------------------|
| 1 | NVIDIA GeForce RTX 3070 | Yes: 0 | | 8018 MB | 10de | dbde0000.. |
| | | | | | 2484 | 0 |
| | | | | | 1 | |
|=============================================================================================|
| OS: Windows 11 Pro, Version: 10.0 (23H2), Build: 22631, Kernel: 10.0.22621.4455
| Processor: Intel(R) Core(TM) i7-10700 CPU @ 2.90GHz | Cores: 8 | Logical: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32644 | Free Memory: 18963
| Total Page/Swap (MB): 37508 | Free Page/Swap: 20733
|---------------------------------------------------------------------------------------------|
[3023.569s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[3023.623s] [ext: omni.kit.commands-1.4.9] startup
[3023.843s] [ext: omni.kit.clipboard-1.0.4] startup
[3023.884s] [ext: omni.kit.window.extensions-1.4.11] startup
[3024.102s] [ext: omni.app.mini-0.1.1] startup
[3024.121s] app ready
5、第二次启动
(isaacsim) C:\Users\Admin>isaacsim
Loading user config located at: 'C:/Users/Admin/AppData/Local/ov/data/Kit/omni.app.mini/0.1/user.config.json'
[Info] [carb] Logging to file: C:/Users/Admin/.nvidia-omniverse/logs/Kit/omni.app.mini/0.1/kit_20241203_145913.log
2024-12-03 06:59:13 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.124s] [ext: omni.kit.async_engine-0.0.1] startup
[0.148s] [ext: omni.stats-1.0.1] startup
[0.150s] [ext: omni.client-1.2.0] startup
[0.176s] [ext: omni.gpu_foundation.shadercache.d3d12-1.0.0] startup
[0.185s] [ext: omni.assets.plugins-0.0.0] startup
[0.190s] [ext: omni.gpu_foundation-0.0.0] startup
[0.210s] [ext: carb.windowing.plugins-1.0.0] startup
[0.237s] [ext: omni.kit.renderer.init-0.0.0] startup
[0.238s] [ext: omni.kit.loop-default-0.2.0] startup
[0.251s] [ext: omni.appwindow-1.1.8] startup
[0.259s] [ext: omni.kit.renderer.core-1.0.2] startup
[0.267s] [ext: omni.kit.renderer.capture-0.0.0] startup
[0.273s] [ext: omni.kit.renderer.imgui-1.0.1] startup
[0.287s] [ext: omni.ui-2.25.22] startup
[0.301s] [ext: omni.kit.mainwindow-1.0.3] startup
(isaacsim) C:\Users\Admin>0.1.0] startup
[0.305s] [ext: omni.uiaudio-1.0.0] startup
[0.308s] [ext: omni.kit.uiapp-0.0.0] startup
[0.308s] [ext: omni.kit.menu.core-1.0.4] startup
[0.310s] [ext: omni.kit.actions.core-1.0.0] startup
[0.314s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[0.321s] [ext: omni.kit.menu.utils-1.5.27] startup
[0.327s] [ext: omni.kit.widget.filter-1.1.4] startup
[0.328s] [ext: omni.kit.widget.searchfield-1.1.8] startup
[0.331s] [ext: omni.kit.commands-1.4.9] startup
[0.340s] [ext: omni.kit.clipboard-1.0.4] startup
[0.342s] [ext: omni.kit.window.extensions-1.4.11] startup
[0.354s] [ext: omni.app.mini-0.1.1] startup
[0.371s] app ready
2024-12-03 06:59:13 [371ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630
2024-12-03 06:59:13 [436ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630|---------------------------------------------------------------------------------------------|
| Driver Version: 560.94 | Graphics API: D3D12
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | Intel(R) UHD Graphics 630 | | | 128 MB | 8086 | 90fd0000.. |
| | | | | | 9bc5 | 0 |
| | | | | | N/A | |
|---------------------------------------------------------------------------------------------|
| 1 | NVIDIA GeForce RTX 3070 | Yes: 0 | | 8018 MB | 10de | dbde0000.. |
| | | | | | 2484 | 0 |
| | | | | | 1 | |
|=============================================================================================|
| OS: Windows 11 Pro, Version: 10.0 (23H2), Build: 22631, Kernel: 10.0.22621.4455
| Processor: Intel(R) Core(TM) i7-10700 CPU @ 2.90GHz | Cores: 8 | Logical: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32644 | Free Memory: 18725
| Total Page/Swap (MB): 37508 | Free Page/Swap: 20863
|---------------------------------------------------------------------------------------------|
6、启动界面如下
7、打开特定例程
isaacsim omni.isaac.sim.python.kit
效果如下：
(isaacsim) C:\Users\Admin>isaacsim omni.isaac.sim.python.kit
[Info] [carb] Logging to file: C:/Users/Admin/.nvidia-omniverse/logs/Kit/Isaac-Sim/4.2/kit_20241203_150601.log
2024-12-03 07:06:01 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.190s] [ext: omni.blobkey-1.1.2] startup
[0.192s] [ext: omni.kit.async_engine-0.0.1] startup
[0.494s] [ext: omni.stats-1.0.1] startup
[0.497s] [ext: omni.datastore-0.0.0] startup
[0.500s] [ext: omni.client-1.2.0] startup
[0.525s] [ext: omni.ujitso.default-1.0.0] startup
[0.529s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
[0.537s] [ext: omni.assets.plugins-0.0.0] startup
[0.542s] [ext: omni.gpu_foundation-0.0.0] startup
[0.571s] [ext: carb.windowing.plugins-1.0.0] startup
[0.599s] [ext: omni.kit.renderer.init-0.0.0] startup
[0.601s] [ext: omni.kit.pipapi-0.0.0] startup
[0.614s] [ext: omni.materialx.libs-1.0.4] startup
[0.630s] [ext: omni.kit.pip_archive-0.0.0] startup
[0.631s] [ext: omni.usd.config-1.0.4] startup
[0.651s] [ext: omni.gpucompute.plugins-0.0.0] startup
[0.655s] [ext: omni.usd.libs-1.0.1] startup
[0.809s] [ext: omni.iray.libs-0.0.0] startup
[0.838s] [ext: omni.mdl.neuraylib-0.2.8] startup
[0.843s] [ext: omni.mdl-55.0.1] startup
[0.866s] [ext: omni.kit.usd.mdl-1.0.1] startup
2024-12-03 07:06:02 [871ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630
2024-12-03 07:06:02 [872ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630
[1.035s] [ext: omni.kit.telemetry-0.5.0] startup
[1.045s] [ext: omni.kit.loop-isaac-1.2.0] startup
[1.047s] [ext: omni.kit.test-1.1.0] startup
[1.150s] [ext: omni.appwindow-1.1.8] startup
[1.167s] [ext: omni.kit.renderer.core-1.0.2] startup
[1.175s] [ext: omni.kit.renderer.capture-0.0.0] startup|---------------------------------------------------------------------------------------------|
| Driver Version: 560.94 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3070 | Yes: 0 | | 8018 MB | 10de | dbde0000.. |
| | | | | | 2484 | 22b713f7.. |
| | | | | | 1 | |
|---------------------------------------------------------------------------------------------|
| 1 | Intel(R) UHD Graphics 630 | | | 16322 MB | 8086 | 90fd0000.. |
| | | | | | 9bc5 | 8680c59b.. |
| | | | | | N/A | |
|=============================================================================================|
| OS: Windows 11 Pro, Version: 10.0 (23H2), Build: 22631, Kernel: 10.0.22621.4455
| Processor: Intel(R) Core(TM) i7-10700 CPU @ 2.90GHz | Cores: 8 | Logical: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32644 | Free Memory: 18252
| Total Page/Swap (MB): 37508 | Free Page/Swap: 20340
|---------------------------------------------------------------------------------------------|
[1.182s] [ext: omni.kit.renderer.imgui-1.0.1] startup
[1.200s] [ext: omni.ui-2.25.22] startup
[1.217s] [ext: omni.kit.mainwindow-1.0.3] startup
[1.220s] [ext: carb.audio-0.1.0] startup
[1.222s] [ext: omni.uiaudio-1.0.0] startup
[1.226s] [ext: omni.kit.uiapp-0.0.0] startup
[1.226s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
[1.242s] [ext: omni.usd.schema.audio-0.0.0] startup
[1.253s] [ext: omni.usd.schema.forcefield-106.1.9] startup
[1.268s] [ext: omni.anim.navigation.schema-106.1.0] startup
[1.276s] [ext: omni.usd.schema.semantics-0.0.0] startup
[1.282s] [ext: omni.usd.schema.scene.visualization-2.0.2] startup
[1.288s] [ext: omni.usd.schema.anim-0.0.0] startup
[1.321s] [ext: omni.anim.graph.schema-106.1.0] startup
[1.331s] [ext: omni.usd.schema.isaac-2.1.0] startup
[1.346s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
[1.357s] [ext: omni.usd.schema.physx-106.1.9] startup
[1.385s] [ext: omni.usd.schema.geospatial-0.0.0] startup
[1.392s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
[1.400s] [ext: omni.kit.widget.nucleus_connector-1.1.9] startup
[1.405s] [ext: omni.graph.exec-0.9.4] startup
[1.408s] [ext: omni.kit.usd_undo-0.1.8] startup
[1.410s] [ext: omni.kit.actions.core-1.0.0] startup
[1.415s] [ext: omni.kit.exec.core-0.13.4] startup
[1.421s] [ext: omni.kit.menu.core-1.0.4] startup
[1.423s] [ext: omni.kit.commands-1.4.9] startup
[1.432s] [ext: omni.kit.widget.options_menu-1.1.6] startup
[1.439s] [ext: omni.kit.menu.utils-1.5.27] startup
[1.453s] [ext: omni.kit.clipboard-1.0.4] startup
[1.456s] [ext: omni.kit.widget.graph-1.12.15] startup
[1.466s] [ext: omni.kit.widget.filter-1.1.4] startup
[1.467s] [ext: omni.timeline-1.0.10] startup
[1.472s] [ext: omni.usd_resolver-1.0.0] startup
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2024-12-03 07:06:06 [5,483ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
Warp 1.2.1 initialized:CUDA Toolkit 11.8, Driver 12.6Devices:"cpu" : "Intel64 Family 6 Model 165 Stepping 5, GenuineIntel""cuda:0" : "NVIDIA GeForce RTX 3070" (8 GiB, sm_86, mempool enabled)Kernel cache:C:\Users\Admin\AppData\Local\NVIDIA\warp\Cache\1.2.1
[5.862s] [ext: omni.isaac.lula-3.0.1] startup
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2024-12-03 07:06:07 [6,320ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. File C:/Users/Admin/.nvidia-omniverse/config/omniverse.toml is not found. Consider installing it for better IO performance.
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2024-12-03 07:06:08 [6,842ms] [Error] [carb.scripting-python.plugin] UnicodeDecodeError: 'gbk' codec can't decode byte 0xa0 in position 1096: illegal multibyte sequenceAt:C:\Users\Admin\anaconda3\envs\isaacsim\lib\json\__init__.py(293): loadc:/users/admin/anaconda3/envs/isaacsim/lib/site-packages/isaacsim/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/menu.py(232): __init__c:/users/admin/anaconda3/envs/isaacsim/lib/site-packages/isaacsim/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/extension.py(37): on_startupC:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\omni\kernel\py\omni\ext\_impl\_internal.py(164): _startup_extC:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\omni\kernel\py\omni\ext\_impl\_internal.py(224): startupC:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\omni\kernel\py\omni\ext\_impl\_internal.py(328): startup_extensionPythonExtension.cpp::startup()(2): <module>C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\omni\kit_app.py(114): startupC:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\isaacsim\__init__.py(127): mainC:\Users\Admin\anaconda3\envs\isaacsim\Scripts\isaacsim.exe\__main__.py(7): <module>C:\Users\Admin\anaconda3\envs\isaacsim\lib\runpy.py(86): _run_codeC:\Users\Admin\anaconda3\envs\isaacsim\lib\runpy.py(196): _run_module_as_main2024-12-03 07:06:08 [6,842ms] [Error] [omni.ext.plugin] [ext: omni.isaac.sensor-12.9.1] Failed to startup python extension.
[7.269s] [ext: omni.kit.manipulator.selector-1.1.1] startup
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[8.361s] [ext: omni.isaac.sim.python-4.2.0] startup
[8.643s] app ready
效果如下
二、IsaacLab的安装
1、下载isaaclab
git clone https://github.com/isaac-sim/IsaacLab.git
2、isaaclab.bat–帮助
用法：isaaclab.bat[-h][-i][-f][-p][-s][-v][-d][-c]--管理Isaac Lab的实用程序。
可选参数：
-h、 --help显示帮助内容。
-i、 --install[LIB]在Isaac Lab和学习框架（rl_games、rsl_rl、sb3、skrl）中安装扩展作为额外的依赖项。默认值为“全部”。
-f、 --format运行预提交以格式化代码并检查lints。
-p、 --python运行Isaac Sim或虚拟环境（如果活动）提供的python可执行文件。
-s、 --sim运行isaac sim提供的模拟器可执行文件（isaac sim.bat）。
-t、 --test运行所有python单元测试。
-v、 --vscode从模板生成vscode设置文件。
-d、 --docs使用sphinx从源代码构建文档。
-c、 --conda[NAME]为Isaac Lab创建conda环境。默认名称为“isaaclab”。
3、安装isaaclab
isaaclab.bat --install :: or "isaaclab.bat -i"
(isaacsim) E:\IsaacLab-main>isaaclab.bat --install :: or "isaaclab.bat -i"
[INFO] Installing extensions inside the Isaac Lab repository...
"E:\IsaacLab-main\\source\extensions\omni.isaac.lab"module: "E:\IsaacLab-main\\source\extensions\omni.isaac.lab"
Obtaining file:///E:/IsaacLab-main/source/extensions/omni.isaac.labInstalling build dependencies ... doneChecking if build backend supports build_editable ... doneGetting requirements to build editable ... donePreparing editable metadata (pyproject.toml) ... done
Requirement already satisfied: numpy<2 in c:\users\admin\anaconda3\envs\isaacsim\lib\site-packages (from omni-isaac-lab==0.27.15) (1.26.4)
Collecting torch==2.4.0 (from omni-isaac-lab==0.27.15)Downloading torch-2.4.0-cp310-cp310-win_amd64.whl.metadata (27 kB)
Collecting onnx==1.16.1 (from omni-isaac-lab==0.27.15)Downloading onnx-1.16.1-cp310-cp310-win_amd64.whl.metadata (16 kB)
Collecting prettytable==3.3.0 (from omni-isaac-lab==0.27.15)Downloading prettytable-3.3.0-py3-none-any.whl.metadata (24 kB)
Collecting tensordict (from omni-isaac-lab==0.27.15)Downloading tensordict-0.6.1-cp310-cp310-win_amd64.whl.metadata (9.1 kB)
Collecting toml (from omni-isaac-lab==0.27.15)Using cached toml-0.10.2-py2.py3-none-any.whl.metadata (7.1 kB)
Collecting hidapi (from omni-isaac-lab==0.27.15)Downloading hidapi-0.14.0.post4-cp310-cp310-win_amd64.whl.metadata (3.7 kB)
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Building wheels for collected packages: omni-isaac-labBuilding editable for omni-isaac-lab (pyproject.toml) ... doneCreated wheel for omni-isaac-lab: filename=omni_isaac_lab-0.27.15-0.editable-py3-none-any.whl size=3428 sha256=b5298e822862486ebbecd3d1d8db8dd7facee035e0ec6c8a97fae283a0ae6e75Stored in directory: C:\Users\Admin\AppData\Local\Temp\pip-ephem-wheel-cache-jnnwwv01\wheels\36\0f\56\cb2beb5bd07f18a0eeb2ca8df6ada013a6175fb5dfa9aade70
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"E:\IsaacLab-main\\source\extensions\omni.isaac.lab_assets"module: "E:\IsaacLab-main\\source\extensions\omni.isaac.lab_assets"
Obtaining file:///E:/IsaacLab-main/source/extensions/omni.isaac.lab_assetsInstalling build dependencies ... doneChecking if build backend supports build_editable ... doneGetting requirements to build editable ... donePreparing editable metadata (pyproject.toml) ... done
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"E:\IsaacLab-main\\source\extensions\omni.isaac.lab_tasks"module: "E:\IsaacLab-main\\source\extensions\omni.isaac.lab_tasks"
Obtaining file:///E:/IsaacLab-main/source/extensions/omni.isaac.lab_tasksInstalling build dependencies ... doneChecking if build backend supports build_editable ... doneGetting requirements to build editable ... donePreparing editable metadata (pyproject.toml) ... done
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Building wheels for collected packages: omni-isaac-lab_tasks, antlr4-python3-runtimeBuilding editable for omni-isaac-lab_tasks (pyproject.toml) ... doneCreated wheel for omni-isaac-lab_tasks: filename=omni_isaac_lab_tasks-0.10.13-0.editable-py3-none-any.whl size=3624 sha256=ce385c49e362f06d26e76f5971231206379bc34370761239fc314380d7f6cfb7Stored in directory: C:\Users\Admin\AppData\Local\Temp\pip-ephem-wheel-cache-5jjutl_6\wheels\a6\02\d6\1ac7b6d0e44587190c0d570ecf25ddf558ca9be6372feb247aBuilding wheel for antlr4-python3-runtime (setup.py) ... doneCreated wheel for antlr4-python3-runtime: filename=antlr4_python3_runtime-4.9.3-py3-none-any.whl size=144577 sha256=6184799bbbdfb51091b0b4b312d5b6691e5443ede772a5b0ef8f2f0da5eff6daStored in directory: c:\users\admin\appdata\local\pip\cache\wheels\12\93\dd\1f6a127edc45659556564c5730f6d4e300888f4bca2d4c5a88
Successfully built omni-isaac-lab_tasks antlr4-python3-runtime
Installing collected packages: antlr4-python3-runtime, werkzeug, tensorboard-data-server, python-dotenv, protobuf, pillow, omegaconf, markdown, imageio_ffmpeg, h5py, grpcio, decorator, absl-py, tensorboard, proglog, imageio, hydra-core, torchvision, moviepy, omni-isaac-lab_tasksAttempting uninstall: protobufFound existing installation: protobuf 5.29.0Uninstalling protobuf-5.29.0:Successfully uninstalled protobuf-5.29.0Attempting uninstall: pillowFound existing installation: pillow 11.0.0Uninstalling pillow-11.0.0:Successfully uninstalled pillow-11.0.0
Successfully installed absl-py-2.1.0 antlr4-python3-runtime-4.9.3 decorator-5.1.1 grpcio-1.68.1 h5py-3.12.1 hydra-core-1.3.2 imageio-2.36.1 imageio_ffmpeg-0.5.1 markdown-3.7 moviepy-2.1.1 omegaconf-2.3.0 omni-isaac-lab_tasks-0.10.13 pillow-10.4.0 proglog-0.1.10 protobuf-4.25.5 python-dotenv-1.0.1 tensorboard-2.18.0 tensorboard-data-server-0.7.2 torchvision-0.19.0 werkzeug-3.1.3
[INFO] Installing extra requirements such as learning frameworks...
[INFO] Installing rl-framework: ::.
ERROR: Exception:
Traceback (most recent call last):File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_vendor\packaging\requirements.py", line 36, in __init__parsed = _parse_requirement(requirement_string)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_vendor\packaging\_parser.py", line 62, in parse_requirementreturn _parse_requirement(Tokenizer(source, rules=DEFAULT_RULES))File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_vendor\packaging\_parser.py", line 77, in _parse_requirementextras = _parse_extras(tokenizer)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_vendor\packaging\_parser.py", line 164, in _parse_extraswith tokenizer.enclosing_tokens(File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\contextlib.py", line 142, in __exit__next(self.gen)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_vendor\packaging\_tokenizer.py", line 189, in enclosing_tokensself.raise_syntax_error(File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_vendor\packaging\_tokenizer.py", line 167, in raise_syntax_errorraise ParserSyntaxError(
pip._vendor.packaging._tokenizer.ParserSyntaxError: Expected matching RIGHT_BRACKET for LEFT_BRACKET, after extrasplaceholder[::]~^The above exception was the direct cause of the following exception:Traceback (most recent call last):File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\cli\base_command.py", line 105, in _run_wrapperstatus = _inner_run()File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\cli\base_command.py", line 96, in _inner_runreturn self.run(options, args)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\cli\req_command.py", line 67, in wrapperreturn func(self, options, args)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\commands\install.py", line 343, in runreqs = self.get_requirements(args, options, finder, session)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\cli\req_command.py", line 244, in get_requirementsreq_to_add = install_req_from_editable(File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\req\constructors.py", line 235, in install_req_from_editableparts = parse_req_from_editable(editable_req)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\req\constructors.py", line 204, in parse_req_from_editablename, url, extras_override = parse_editable(editable_req)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\req\constructors.py", line 113, in parse_editableget_requirement("placeholder" + extras.lower()).extras,File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_internal\utils\packaging.py", line 45, in get_requirementreturn Requirement(req_string)File "C:\Users\Admin\anaconda3\envs\isaacsim\lib\site-packages\pip\_vendor\packaging\requirements.py", line 38, in __init__raise InvalidRequirement(str(e)) from e
pip._vendor.packaging.requirements.InvalidRequirement: Expected matching RIGHT_BRACKET for LEFT_BRACKET, after extrasplaceholder[::]~^
[INFO] Setting up vscode settings...
[WARN] Could not find Isaac Sim VSCode settings: C:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\isaacsim\.vscode\settings.json.This will result in missing 'python.analysis.extraPaths' in the VSCodesettings, which limits the functionality of the Python language server.However, it does not affect the functionality of the Isaac Lab project.We are working on a fix for this issue with the Isaac Sim team.
Invalid argument provided: orusage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.optional arguments:-h, --help Display the help content.-i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is 'all'.-f, --format Run pre-commit to format the code and check lints.-p, --python Run the python executable (python.bat) provided by Isaac Sim.-s, --sim Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.-t, --test Run all python unittest tests.-v, --vscode Generate the VSCode settings file from template.-d, --docs Build the documentation from source using sphinx.-c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
4、验证IsaacLab的安装
isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py
(isaacsim) E:\IsaacLab-main>isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py
[INFO] Using python from: C:\Users\Admin\anaconda3\envs\isaacsim\python.exe
[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
[INFO][AppLauncher]: Loading experience file: E:\IsaacLab-main\source\apps\isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: 'c:/users/admin/anaconda3/envs/isaacsim/lib/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json'
[Info] [carb] Logging to file: c:/users/admin/anaconda3/envs/isaacsim/lib/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20241203_163551.log
2024-12-03 08:35:51 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2024-12-03 08:35:52 [922ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630
2024-12-03 08:35:52 [922ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) UHD Graphics 630|---------------------------------------------------------------------------------------------|
| Driver Version: 560.94 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3070 | Yes: 0 | | 8018 MB | 10de | dbde0000.. |
| | | | | | 2484 | 22b713f7.. |
| | | | | | 1 | |
|---------------------------------------------------------------------------------------------|
| 1 | Intel(R) UHD Graphics 630 | | | 16322 MB | 8086 | 90fd0000.. |
| | | | | | 9bc5 | 8680c59b.. |
| | | | | | N/A | |
|=============================================================================================|
| OS: Windows 11 Pro, Version: 10.0 (23H2), Build: 22631, Kernel: 10.0.22621.4455
| Processor: Intel(R) Core(TM) i7-10700 CPU @ 2.90GHz | Cores: 8 | Logical: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 32644 | Free Memory: 18913
| Total Page/Swap (MB): 37508 | Free Page/Swap: 19012
|---------------------------------------------------------------------------------------------|
2024-12-03 08:35:57 [5,455ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
2024-12-03 08:35:57 [5,940ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. File C:/Users/Admin/.nvidia-omniverse/config/omniverse.toml is not found. Consider installing it for better IO performance.
2024-12-03 08:35:57 [6,010ms] [Error] [carb.scripting-python.plugin] UnicodeDecodeError: 'gbk' codec can't decode byte 0xa0 in position 1096: illegal multibyte sequenceAt:C:\Users\Admin\anaconda3\envs\isaacsim\lib\json\__init__.py(293): loadc:/users/admin/anaconda3/envs/isaacsim/lib/site-packages/isaacsim/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/menu.py(232): __init__c:/users/admin/anaconda3/envs/isaacsim/lib/site-packages/isaacsim/exts/omni.isaac.sensor/omni/isaac/sensor/scripts/extension.py(37): on_startupC:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\omni\kernel\py\omni\ext\_impl\_internal.py(164): _startup_extC:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\omni\kernel\py\omni\ext\_impl\_internal.py(224): startupC:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\omni\kernel\py\omni\ext\_impl\_internal.py(328): startup_extensionPythonExtension.cpp::startup()(2): <module>C:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\isaacsim\exts\omni.isaac.kit\omni\isaac\kit\simulation_app.py(411): _start_appC:\Users\Admin\anaconda3\envs\isaacsim\Lib\site-packages\isaacsim\exts\omni.isaac.kit\omni\isaac\kit\simulation_app.py(200): __init__E:\IsaacLab-main\source\extensions\omni.isaac.lab\omni\isaac\lab\app\app_launcher.py(607): _create_appE:\IsaacLab-main\source\extensions\omni.isaac.lab\omni\isaac\lab\app\app_launcher.py(113): __init__E:\IsaacLab-main\source\standalone\tutorials\00_sim\create_empty.py(29): <module>2024-12-03 08:35:57 [6,010ms] [Error] [omni.ext.plugin] [ext: omni.isaac.sensor-12.9.1] Failed to startup python extension.
[INFO]: Setup complete...
三、机器人测试
无人机悬停测试
\source\standalone\demos\quadcopter.py
