【Isaac Sim 4.5.0】环境安装，启动闪退修复记录

本次学习的课程名称《Getting Started: Simulating Your First Robot in Isaac Sim》，并提供课程链接：https://learn.nvidia.com/courses/course-detail?course_id=course-v1:DLI+S-OV-27+V1&ncid=ref-dli-946199-AIlearngroup

安装环境：
Ubuntu 20.04
CUDA 12.8 RTX 4090

按照教程安装
https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/install_workstation.html

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

没有什么问题。但启动后报错，闪退。
观察报错原因

[omni.physx.tensors.plugin] CUDA 错误：非法内存访问
[Error] No cuda device found
[Error] Cannot find libcuda.so
[Error] [carb.cudainterop.plugin] Could not initialize NVML: return code 9 (NVML_ERROR_DRIVER_NOT_LOADED: NVIDIA driver is not loaded.)

推测 cuda调用失败。
解决步骤
1.检查nvidia-smi 正常

nvidia-smi
nvcc --version

nvcc --version缺失，安装 从官网下载

我是用u盘里liunx启动的

升级了 0 个软件包，新安装了 54 个软件包，要卸载 0 个软件包，有 750 个软件包未被升级。
需要下载 1,407 MB 的归档。
解压缩后会消耗 3,749 MB 的额外空间。
E: 您在 /var/cache/apt/archives/ 上没有足够的可用空间。

空间不足，换到其他盘上

sudo ln -s /media/external_drive/apt_cache /var/cache/apt/archives

重新安装后测试仍然不行。
2.检查环境变量，发现libcuda.so不在默认位置
搜一下find / -name "libcuda.so*" 2>/dev/null 找到一堆

/media/ubuntu/writable/upper/usr/share/man/man7/libcuda.so.7.gz
/media/ubuntu/writable/upper/usr/local/cuda-12.6/targets/x86_64-linux/lib/stubs/libcuda.so
/media/ubuntu/writable/upper/usr/local/cuda-12.8/targets/x86_64-linux/lib/stubs/libcuda.so
/media/ubuntu/writable/upper/usr/lib/x86_64-linux-gnu/stubs/libcuda.so
/media/ubuntu/writable/upper/usr/lib/x86_64-linux-gnu/libcuda.so.1
/media/ubuntu/writable/upper/usr/lib/x86_64-linux-gnu/libcuda.so.570.86.15
/usr/lib/x86_64-linux-gnu/stubs/libcuda.so
/usr/lib/x86_64-linux-gnu/libcuda.so.1
/usr/lib/x86_64-linux-gnu/libcuda.so.570.86.15
/usr/local/cuda-12.6/targets/x86_64-linux/lib/stubs/libcuda.so
/usr/local/cuda-12.8/targets/x86_64-linux/lib/stubs/libcuda.so
/usr/share/man/man7/libcuda.so.7.gz

通过 find 命令查找到的这些路径来看，要解决 libcuda.so 找不到的问题，其中 /usr/lib/x86_64-linux-gnu/libcuda.so.1 最有可能是需要的文件，因为它看起来是完整的库文件（不是 stubs 存根文件），并且位于常见的系统库路径下。

#创建软链接
sudo ln -s /usr/lib/x86_64-linux-gnu/libcuda.so.1 /usr/lib/x86_64-linux-gnu/libcuda.so

# 临时添加到环境变量
export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH

# 永久添加到环境变量，编辑 ~/.bashrc 或 ~/.zshrc 文件
echo 'export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH' >> ~/.bashrc
source ~/.bashrc

测试通过

3.资源下载报错。使用离线本地资源
https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_faq.html#
Edit the /home//isaacsim/apps/isaacsim.exp.base.kit file and add the settings below:

[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",
]

启动命令

./isaac-sim.sh --/persistent/isaac/asset_root/default=“/home/xxxxx/isaacsim_assets/Assets/Isaac/4.5”