视频链接：DGX Spark部署Isaac Sim(一键安装脚本)_哔哩哔哩_bilibili

仓库链接：GitHub - LitchiCheng/DGX-Spark · GitHub

环境准备

https://build.nvidia.com/spark/isaac/isaac-sim

系统要求

• NVIDIA GPU（支持 CUDA）
• Docker（如需容器化部署）

配置 Docker 用户组

sudo usermod -aG docker $USER
newgrp docker

安装

依赖

sudo apt install curl git build-essential gcc-11 g++-11 git-lfs docker -y 
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 200
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 200

clone

ISAACSIM_REPO_URL="${ISAACSIM_REPO_URL:-https://github.com/isaac-sim/IsaacSim}"
ISAACSIM_BRANCH="${ISAACSIM_BRANCH:-develop}"

git clone --depth=1 --recursive --branch="${ISAACSIM_BRANCH}" \
            "${ISAACSIM_REPO_URL}" IsaacSim

cd IsaacSim
git lfs install
git lfs pull

构建

SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
cd "${SCRIPT_DIR}"
./build.sh

使用

export ISAACSIM_ROOT="${SCRIPT_DIR}"
export ISAACSIM_PATH="${BUILD_DIR}"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
export LD_PRELOAD="$LD_PRELOAD:/lib/aarch64-linux-gnu/libgomp.so.1"

"${ISAACSIM_PATH}/isaac-sim.sh" "$@"

选择Wait就可以