{"id":116323,"date":"2026-10-21T07:00:49","date_gmt":"2026-10-20T23:00:49","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/116323.html"},"modified":"2026-10-21T07:00:49","modified_gmt":"2026-10-20T23:00:49","slug":"isaac-sim-5-1-0-%e9%83%a8%e7%bd%b2%e6%8c%87%e5%8d%97%ef%bc%88%e5%ae%9e%e9%aa%8c%e5%ae%a4%e6%9c%8d%e5%8a%a1%e5%99%a8%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/116323.html","title":{"rendered":"Isaac Sim 5.1.0 \u90e8\u7f72\u6307\u5357\uff08\u5b9e\u9a8c\u5ba4\u670d\u52a1\u5668\uff09"},"content":{"rendered":"

\/* MD \/ \u5bcc\u6587\u672c\u4e2d\u7684 .toc\uff08\u542b\u535a\u5ba2\u56ed\u642c\u5bb6\u7b49\u5d4c\u5957\u7ed3\u6784\uff09\uff1b.toc-box \u5728\u4fa7\u680f\uff0c\u4e0d\u53d7\u5f71\u54cd *\/
\n #content_views .toc,
\n \/* \u7f16\u8f91\u5668\u5e38\u5728\u76ee\u5f55\u524d\u540e\u63d2\u5165\u7a7a p\uff08:empty \u4ecd\u5360 20px\uff09\uff0c\u4e00\u5e76\u53bb\u6389\u907f\u514d\u9876\u7a7a\u9699 *\/
\n #content_views.markdown_views > p:empty:has(+ .toc),
\n #content_views.markdown_views > .toc + p:empty,
\n \/* \u5bcc\u6587\u672c\u65e7\u7248\u76ee\u5f55\u6807\u8bb0 *\/
\n #content_views.htmledit_views #main-toc,
\n #content_views.htmledit_views #hr-toc,
\n #content_views.htmledit_views p[id*=\\”-toc\\”] {
\n display: none !important;
\n }
\n \/* \u76ee\u5f55\u53bb\u6389\u540e\uff0c\u7d27\u8ddf\u7684\u9996\u4e2a\u6807\u9898\u4e0d\u518d\u591a\u51fa\u4e00\u5757\u4e0a\u8fb9\u8ddd *\/
\n #content_views.markdown_views > .toc + h1,
\n #content_views.markdown_views > .toc + h2,
\n #content_views.markdown_views > .toc + h3,
\n #content_views.markdown_views > .toc + h4,
\n #content_views.markdown_views > .toc + p:empty + h1,
\n #content_views.markdown_views > .toc + p:empty + h2,
\n #content_views.markdown_views > .toc + p:empty + h3,
\n #content_views.markdown_views > .toc + p:empty + h4 {
\n margin-top: 0 !important;
\n }<\/p>\n

Isaac Sim 5.1.0 \u90e8\u7f72\u6307\u5357（\u5b9e\u9a8c\u5ba4\u670d\u52a1\u5668）<\/h2>\n

\u9002\u7528\u573a\u666f：\u5b9e\u9a8c\u5ba4 Linux \u670d\u52a1\u5668\u8fd0\u884c Isaac Sim，Mac \u672c\u5730\u901a\u8fc7 WebRTC \u5ba2\u6237\u7aef\u8fdc\u7a0b\u67e5\u770b\u753b\u9762<\/p>\n

\u26a0\ufe0f \u4e0d\u9002\u7528\u4e8e AutoDL：AutoDL \u4e0d\u652f\u6301 UDP \u7aef\u53e3，Isaac Sim WebRTC \u5fc5\u987b\u7528 UDP 47998 \u4f20\u8f93\u5a92\u4f53\u6d41，\u7ed3\u6784\u6027\u4e0d\u53ef\u7528\u3002\u8be6\u89c1\u6587\u672b\u8bf4\u660e\u3002<\/p>\n

\n

\u524d\u7f6e\u8981\u6c42<\/h3>\n

\u786c\u4ef6\u8981\u6c42（\u5b98\u65b9\u6587\u6863 5.1.0）：<\/p>\n\n\u9879\u76ee\u6700\u4f4e\u63a8\u8350\u7406\u60f3<\/tr>\n\n\n\n\n\n\n
GPU<\/td>\nRTX 4080<\/td>\nRTX 5080<\/td>\nRTX PRO 6000<\/td>\n<\/tr>\n
VRAM<\/td>\n16GB<\/td>\n16GB<\/td>\n48GB<\/td>\n<\/tr>\n
RAM<\/td>\n32GB<\/td>\n64GB<\/td>\n64GB<\/td>\n<\/tr>\n
\u5b58\u50a8<\/td>\n50GB SSD<\/td>\n500GB SSD<\/td>\n1TB NVMe<\/td>\n<\/tr>\n
CPU \u6838\u5fc3<\/td>\n4 \u6838<\/td>\n8 \u6838<\/td>\n16 \u6838<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u26a0\ufe0f VRAM < 16GB \u7684\u663e\u5361（\u5982 3070 Ti 8GB）\u53ef\u4ee5\u8fd0\u884c\u57fa\u7840\u573a\u666f，\u4f46\u590d\u6742\u573a\u666f\u548c\u591a\u4f20\u611f\u5668\u573a\u666f\u53ef\u80fd\u663e\u5b58\u4e0d\u8db3\u3002 \u26a0\ufe0f A100\u3001H100 \u6ca1\u6709 RT Core，\u4e0d\u652f\u6301 Isaac Sim\u3002 \u26a0\ufe0f \u9a71\u52a8\u7248\u672c\u8981\u6c42：Linux \u6700\u4f4e 580.65.06<\/p>\n

\u7cfb\u7edf\u8981\u6c42：<\/p>\n

    \n
  • Ubuntu 22.04 \u6216 24.04（\u9700 GLIBC 2.35+，\u53ef\u7528 ldd –version \u786e\u8ba4）<\/li>\n
  • Python 3.11<\/li>\n
  • \u670d\u52a1\u5668\u9632\u706b\u5899\u5f00\u653e：TCP 49100（WebRTC \u4fe1\u4ee4）+ UDP 47998（WebRTC \u5a92\u4f53\u6d41）<\/li>\n
  • \u7f51\u7edc\u53ef\u8bbf\u95ee pypi.nvidia.com（\u5b89\u88c5\u65f6\u9700\u8981）<\/li>\n<\/ul>\n
    \n

    \u7b2c\u4e00\u6b65：\u521b\u5efa\u7f13\u5b58\u76ee\u5f55（\u53ef\u9009，\u4ec5\u7cfb\u7edf\u76d8\u7a7a\u95f4\u7d27\u5f20\u65f6\u9700\u8981）<\/h3>\n

    Isaac Sim \u8fd0\u884c\u65f6\u4f1a\u5728 ~\/.local\/share\/ov\u3001~\/.cache\/ov\u3001~\/.cache\/nvidia\/GLCache \u5199\u5165\u5927\u91cf\u7f13\u5b58（\u6570 GB），\u82e5\u7cfb\u7edf\u76d8\u7a7a\u95f4\u6709\u9650，\u5efa\u8bae\u901a\u8fc7\u8f6f\u94fe\u63a5\u5c06\u5176\u8def\u7531\u81f3\u6570\u636e\u76d8\u3002<\/p>\n

    # \u7f13\u5b58\u8f6f\u94fe\u63a5<\/span>
    \nmkdir<\/span> -p<\/span> \/\u4f60\u7684\u6587\u4ef6\u5939\/isaac_cache
    \n# \u5efa\u7acb\u8f6f\u94fe\u63a5，\u5c06\u7f13\u5b58\u8def\u7531\u81f3\u6570\u636e\u76d8<\/span>
    \nrm<\/span> -rf<\/span> ~\/.cache\/ov ~\/.local\/share\/ov ~\/.cache\/nvidia\/GLCache
    \nmkdir<\/span> -p<\/span> ~\/.local\/share ~\/.cache\/nvidia
    \nln<\/span> -s<\/span> \/extra\/xubinyao\/isaac_cache ~\/.cache\/ov
    \nln<\/span> -s<\/span> \/extra\/xubinyao\/isaac_cache ~\/.local\/share\/ov
    \nln<\/span> -s<\/span> \/extra\/xubinyao\/isaac_cache ~\/.cache\/nvidia\/GLCache<\/p>\n

    # \u865a\u62df\u73af\u5883\u76f4\u63a5\u5efa\u5728\u6570\u636e\u76d8（\u4e0d\u9700\u8981\u8f6f\u94fe\u63a5）<\/span>
    \npython3.11 -m<\/span> venv \/extra\/xubinyao\/isaac_env<\/p>\n

    \n

    \u7b2c\u4e8c\u6b65：\u521b\u5efa Python \u865a\u62df\u73af\u5883<\/h3>\n

    \u5b98\u65b9\u63a8\u8350\u4f7f\u7528 venv，conda \u65b9\u5f0f\u5df2\u5728 5.1.0 \u4e2d\u6807\u6ce8\u4e3a deprecated，\u5c06\u5728\u540e\u7eed\u7248\u672c\u79fb\u9664\u3002<\/p>\n

    python3.11 -m<\/span> venv \/extra\/xubinyao\/isaac_env
    \nsource<\/span> \/extra\/xubinyao\/isaac_env\/bin\/activate
    \npip install<\/span> –upgrade<\/span> pip<\/p>\n

    \n

    \u7b2c\u4e09\u6b65：\u5b89\u88c5\u7cfb\u7edf\u56fe\u5f62\u4f9d\u8d56\u4e0e Isaac Sim<\/h3>\n

    # \u5b89\u88c5\u65e0\u7a97\u53e3\u6a21\u5f0f\u6240\u9700\u7684\u56fe\u5f62\u5e93（\u5b98\u65b9 pip \u5b89\u88c5\u65b9\u5f0f\u5728 Linux \u670d\u52a1\u5668\u4e0a\u9700\u8981\u8fd9\u4e9b\u4f9d\u8d56）<\/span>
    \nsudo<\/span> apt-get<\/span> update
    \nsudo<\/span> apt-get<\/span> install<\/span> -y<\/span> \\\\<\/span>
    \n libglu1-mesa libgl1-mesa-glx libxi6 libxrandr2 libxcursor1 libxinerama1 \\\\<\/span>
    \n libvulkan1 libxt6 zenity<\/span> libegl1 libxext6 libxrender1<\/p>\n

    # \u5b89\u88c5 Isaac Sim（\u8017\u65f6\u8f83\u957f，\u8bf7\u8010\u5fc3\u7b49\u5f85）<\/span>
    \npip install<\/span> "isaacsim[all,extscache]==5.1.0"<\/span> –extra-index-url https:\/\/pypi.nvidia.com<\/p>\n

    \u5f15\u53f7\u662f\u5fc5\u8981\u7684：\u90e8\u5206 shell（\u5982 zsh）\u4f1a\u5c06 [] \u89e3\u91ca\u4e3a\u901a\u914d\u7b26，\u52a0\u5f15\u53f7\u53ef\u907f\u514d\u62a5\u9519\u3002<\/p>\n

    \u5b89\u88c5\u5b8c\u6210\u540e\u53ef\u7528 pip show isaacsim \u786e\u8ba4\u5b89\u88c5\u8def\u5f84\u3002<\/p>\n

    \n

    \u7b2c\u56db\u6b65：\u542f\u52a8 Isaac Sim（\u670d\u52a1\u7aef）<\/h3>\n

    # \u6fc0\u6d3b\u865a\u62df\u73af\u5883<\/span>
    \nsource<\/span> \/data\/isaac_env\/bin\/activate<\/p>\n

    # \u63a5\u53d7 NVIDIA EULA（\u907f\u514d\u65e0\u7a97\u53e3\u6a21\u5f0f\u5361\u5728\u4ea4\u4e92\u63d0\u793a）<\/span>
    \nexport<\/span> OMNI_KIT_ACCEPT_EULA<\/span>=<\/span>YES<\/p>\n

    # \u51c6\u5907\u5de5\u7a0b\u76ee\u5f55<\/span>
    \nmkdir<\/span> -p<\/span> \/data\/isaac_project
    \ncd<\/span> \/data\/isaac_project<\/p>\n

    # \u542f\u52a8 Isaac Sim Streaming \u6a21\u5f0f（\u5c06 <\u670d\u52a1\u5668\u516c\u7f51IP> \u66ff\u6362\u4e3a\u5b9e\u9645 IP）<\/span>
    \nisaacsim isaacsim.exp.full.streaming –no-window –allow-root \\\\<\/span>
    \n –\/app\/livestream\/publicEndpointAddress=<\/span><<\/span>\u670d\u52a1\u5668\u516c\u7f51IP><\/span> \\\\<\/span>
    \n –\/app\/livestream\/port=<\/span>49100<\/span><\/p>\n

    \u7b49\u5f85\u7ec8\u7aef\u51fa\u73b0\u4ee5\u4e0b\u5b57\u6837（\u9996\u6b21\u542f\u52a8\u9700\u7f16\u8bd1 shader \u7f13\u5b58，\u7ea6\u9700 5～15 \u5206\u949f）：<\/p>\n

    Isaac Sim Full Streaming App is loaded.<\/p>\n

    ## \u7b2c\u4e94\u6b65：Mac \u5ba2\u6237\u7aef\u8fde\u63a5<\/p>\n

    1. \u6253\u5f00 Mac \u4e0a\u7684 **Isaac Sim WebRTC Streaming Client**
    \n2. Server \u586b\u5199**\u670d\u52a1\u5668\u516c\u7f51 IP**
    \n3. \u70b9\u51fb **Connect**<\/p>\n

    \u5ba2\u6237\u7aef\u4e0b\u8f7d\u5730\u5740：https:\/\/docs.isaacsim.omniverse.nvidia.com\/5.1.0\/installation\/download.html#isaac-sim-latest-release<\/p>\n

    > \u26a0\ufe0f \u5feb\u6377\u952e\u8bf4\u660e：\u5728\u4e32\u6d41\u753b\u9762\u5185\u7528 `Ctrl+C` \/ `Ctrl+V` \u590d\u5236\u7c98\u8d34；\u4ece Mac \u672c\u5730\u590d\u5236\u5230\u4e32\u6d41\u5185\u7528 `\u2318C` + `Ctrl+V`\u3002<\/p>\n

    ——<\/p>\n

    ## \u9644：\u5e38\u7528\u6392\u67e5\u547d\u4ee4<\/p>\n

    ```bash
    \n# \u786e\u8ba4 49100（TCP）\u548c 47998（UDP）\u7aef\u53e3\u662f\u5426\u5728\u76d1\u542c
    \nss -tlunp | grep -E "49100|47998"<\/p>\n

    # \u67e5\u770b Isaac Sim \u8fdb\u7a0b\u662f\u5426\u5728\u8fd0\u884c
    \nps aux | grep isaacsim | grep -v grep<\/p>\n

    # \u67e5\u770b\u6700\u65b0 Isaac Sim \u65e5\u5fd7
    \nls -t \/data\/isaac_env\/lib\/python3.11\/site-packages\/isaacsim\/kit\/logs\/Kit\/"Isaac-Sim Python"\/5.1\/ | head -3<\/p>\n

    \n

    \u9644：~\/.ssh\/config \u53c2\u8003\u914d\u7f6e（Mac \u672c\u5730）<\/h3>\n

    Host lab-server
    \n HostName <\u670d\u52a1\u5668\u516c\u7f51IP\u6216\u57df\u540d>
    \n User <\u7528\u6237\u540d>
    \n Port 22
    \n IdentityFile ~\/.ssh\/id_rsa<\/p>\n

    \n

    \u9644：\u4e3a\u4ec0\u4e48 AutoDL \u4e0d\u53ef\u7528<\/h3>\n\n\u9700\u6c42AutoDL\u5b9e\u9a8c\u5ba4\u670d\u52a1\u5668<\/tr>\n\n\n\n\n
    UDP 47998（\u5a92\u4f53\u6d41）<\/td>\n\u274c NAT \u4e0d\u652f\u6301<\/td>\n\u2705 \u53ef\u5f00\u653e<\/td>\n<\/tr>\n
    TCP 49100（\u4fe1\u4ee4）<\/td>\n\u2705 SSH \u96a7\u9053\u53ef\u8f6c<\/td>\n\u2705 \u53ef\u5f00\u653e<\/td>\n<\/tr>\n
    \u72ec\u7acb\u516c\u7f51 IP<\/td>\n\u274c \u5171\u4eab NAT<\/td>\n\u2705 \u901a\u5e38\u6709<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    AutoDL \u4f7f\u7528 NAT \u5171\u4eab IP，\u65e0\u6cd5\u66b4\u9732 UDP \u7aef\u53e3，WebRTC \u5a92\u4f53\u6d41\u6c38\u8fdc\u65e0\u6cd5\u5efa\u7acb，\u5c5e\u7ed3\u6784\u6027\u9650\u5236，\u65e0\u89e3\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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