告别云端依赖，Isaac Sim本地资产配置全攻略，自主掌控仿真环境！

GPUS Lady

发布于 2025-05-08 14:36:08

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代码可运行

文章被收录于专栏：GPUS开发者GPUS开发者

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代码可运行

本地资产下载

Isaacsim的资产主要包括以下几种，分门别类，类似Gazebo中的Model库

Featured Assets
Environment Assets
Robot Assets
Sensor Assets
Prop Assets

我们需要将Isaa Sim Asset 4.5版本的3个资产包全部下载下来，一共大约120G，为了方便下载，这里给出一个网盘链接：

链接: https://pan.baidu.com/s/1O_M4Cd-DJKFwwX2bqRJAdA 提取码: qyc6

资产解压

Bash
cd Downloads/ && ls
isaac-sim-assets-1@4.5.0-rc.36+release.19112.f59b3005.zip
isaac-sim-assets-2@4.5.0-rc.36+release.19112.f59b3005.zip
isaac-sim-assets-3@4.5.0-rc.36+release.19112.f59b3005.zip

unzip *.zip

完成下载之后，我们需要将资产解压、合并到一个易于使用的位置，之后我们可以将资产文件合并成下面这样一个文件夹，可以看到解压后的路径 ~/isaacsim_ws/Assets/Isaac/4.5中，存放了上面提到的各种相应资产文件。

Bash
ruoxi@robot2go:~/isaacsim_ws/Assets$ tree . -L 4
.
└── Isaac
    └── 4.5
        ├── Isaac
        │   ├── Environments
        │   ├── IsaacLab
        │   ├── Materials
        │   ├── People
        │   ├── Props
        │   ├── Robots
        │   ├── Samples
        │   └── Sensors
        └── NVIDIA
            ├── Assets
            └── Materials

14 directories

https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html#latest-release

https://docs.isaacsim.omniverse.nvidia.com/latest/assets/usd_assets_overview.html

本地资产路径配置

Isaac Sim 4.5.0

~/isaacsim_ws/isaac-sim-standalone@4.5.0/exts/isaacsim.asset.browser/cache/isaacsim.asset.browser.cache.json

我们需要使用VScode编辑器的查找替换功能，对该文件中的字段 https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5 替换成 ~/isaacsim_ws/Assets/Isaac/4.5，类似如下操作。

Diff
- "url": "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Robots",
+ "url": "/home/ruoxi/isaacsim_ws/Assets/IsaacSim/Assets/Isaac/4.5/Isaac/Robots"

~isaacsim_ws/isaac-sim-standalone@4.5.0/exts/isaacsim.asset.browser/config/extension.toml

修改逻辑和上面的saacsim.asset.browser.cache.json文件逻辑是一致的，这里不再赘述

json

exts."isaacsim.asset.browser".folders = [
    "/home/ruoxi/isaacsim_ws/Assets/Isaac/4.5/Isaac/Environments",
    "/home/ruoxi/isaacsim_ws/Assets/Isaac/4.5/Isaac/IsaacLab",
    "/home/ruoxi/isaacsim_ws/Assets/Isaac/4.5/Isaac/Materials",
    "/home/ruoxi/isaacsim_ws/Assets/Isaac/4.5/Isaac/People",
    "/home/ruoxi/isaacsim_ws/Assets/Isaac/4.5/Isaac/Props",
    "/home/ruoxi/isaacsim_ws/Assets/Isaac/4.5/Isaac/Samples",
    "/home/ruoxi/isaacsim_ws/Assets/Isaac/4.5/Isaac/Sensors",
]

Isaac sim首次运行时仍需要从云端提取部分资源，这可能会导致首次加载时间更长。所以，如果遇到报错与资产相关的连接超时问题，请先检查自己的网络连接是否正常。如网络情况正常，请耐心等待

当我们正确配置了本地资产路径时，isaacsim的后续启动过程就很流畅了，并且可以顺利的使用我们已下载的各类资产

IsaacLab 2.0.0

IsaacLab/source/isaaclab/isaaclab/utils/assets.py

Diff
- NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")
+ if os.getenv("NUCLEUS_ASSET_ROOT_DIR") is not None:
+     NUCLEUS_ASSET_ROOT_DIR = f"{os.getenv('NUCLEUS_ASSET_ROOT_DIR')}"
+ else:
+     NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")
"""Path to the root directory on the Nucleus Server."""

下载资产缓存

启动Isaac Sim（确保是在联网状态下）