isaacsim5.1+5090+580.173.02

一.cuda12.9安装# 导入本地CUDA源 cd ~/下载 sudo dpkg -i cuda-repo-ubuntu2404-12-9-local_12.9.0-575.51.03-1_amd64.deb # 导入源密钥 sudo cp /var/cuda-repo-ubuntu2404-12-9-local/cuda-*-keyring.gpg /usr/share/keyrings/ # 安装CUDA Toolkit sudo apt update sudo apt install cuda-toolkit-12-9 -y # 配置环境变量 echo export CUDA_HOME/usr/local/cuda-12.9 ~/.bashrc echo export PATH$CUDA_HOME/bin:$PATH ~/.bashrc echo export LD_LIBRARY_PATH$CUDA_HOME/lib64:$LD_LIBRARY_PATH ~/.bashrc source ~/.bashrc验证nvcc -V # 输出 release 12.9 即为成功二.Conda 虚拟环境搭建1. 接受 conda 服务条款解决创建环境报错conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/main conda tos accept --override-channels --channel https://repo.anaconda.com/pkgs/r2. 创建并激活 Python3.11 环境conda create -n isaac51 python3.11 -y conda activate isaac51三、PyTorch 安装CUDA 12.8 稳定 GPU 版Isaac Sim 内置 CUDA 12.8 运行时该版本兼容性最好与系统安装的 CUDA 12.9 互不冲突。pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu128 验证 python -c import torch; print(CUDA可用:, torch.cuda.is_available()); print(PyTorch CUDA版本:, torch.version.cuda) # 第一行输出 True 即为正常四、Isaac Sim 5.1.0 安装# 升级pip避免安装报错 pip install --upgrade pip # 官方完整安装命令 pip install isaacsim[all,extscache]5.1.0 --extra-index-url https://pypi.nvidia.com # 验证 isaacsim五、Isaac Lab v1.1.0 安装与 Isaac Sim 5.1 严格匹配sudo apt update sudo apt install -y git cmake build-essential libopenmpi-dev cd ~ git clone https://github.com/isaac-sim/IsaacLab.git cd IsaacLab git checkout v2.3.1 # 确保已激活isaac51环境 conda activate isaac51 ./isaaclab.sh --install 验证 python -c import isaaclab; print(Isaac Lab版本:, isaaclab.__version__) # 输出 1.1.0 即为成功