Isaac sim 4.5 安装教程+Assets下载

1. isaac sim安装参考官方教程即可。

Installation — Isaac Sim Documentation

（1）下载

（2）根据要求解压，执行bash

mkdir ~/isaacsim
cd ~/Downloads
unzip "isaac-sim-standalone@4.5.0-rc.36+release.19112.f59b3005.gl.linux-x86_64.release.zip" -d ~/isaacsim
cd ~/isaacsim
./post_install.sh
./isaac-sim.selector.sh

2. 下载安装本地资产Assets

本部分是解决打开isaac sim平台从线上下载资产导致卡死的问题，通过下载到本地的Assets，保证丝滑导入资产。

（1）下载如下三个pack

（2）解压并配置资产地址，参考官方教程

https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_faq.html#

1. 从 最新版本 部分下载 Isaac Sim 资源的所有三个包。

2. 将包解压到一个文件夹中。

3. 配置/home/<username>/isaacsim/apps/isaacsim.exp.base.kit文件，

   sudo gedit apps/isaacsim.exp.base.kit 

   在最后加入下面配置，将<username>改为自己文件夹名字：

   [settings]
   persistent.isaac.asset_root.default = "/home/<username>/isaacsim_assets/Assets/Isaac/4.5"
   exts."isaacsim.asset.browser".folders = [
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/Robots",
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/People",
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/IsaacLab",
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/Props",
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/Environments",
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/Materials",
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/Samples",
       "/home/<username>/isaacsim_assets/Assets/Isaac/4.5/Isaac/Sensors",
   ]