win11 isaacsim 5.1.0 和lab配置

这里的环境是win11,默认配置isaacsim5.1到C盘以及安装isaaclab2.3.0到D盘。梳理流程后，也可以将目前的模块安装到其他路径。

1. 下载和安装sim

https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/examples.html

下载软件包后运行命令：

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mkdir C:\isaacsim
cd %USERPROFILE%/Downloads
tar -xvzf "isaac-sim-standalone-5.1.0-windows-x86_64.zip" -C C:\isaacsim
cd C:\isaacsim
post_install.bat

启动：

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isaac-sim.bat

2. 安装lab

https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/binaries_installation.html

首先测试文件关联，这里默认isaacsim的目录在C盘：

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:: Isaac Sim root directory
set ISAACSIM_PATH="C:\isaacsim"
:: Isaac Sim python executable
set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"

测试启动sim:

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:: note: you can pass the argument "--help" to see all arguments possible.
%ISAACSIM_PATH%\isaac-sim.bat

测试运行standalone脚本：

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:: checks that python path is set correctly
%ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
:: checks that Isaac Sim can be launched from python
%ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\isaacsim.core.api\add_cubes.py

由于我曾经安装过4.5, 5.0，所以尝试clean掉之前的缓存等文件，避免冲突：

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%ISAACSIM_PATH%\isaac-sim.bat --reset-user

下载lab包：

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git clone https://github.com/isaac-sim/IsaacLab.git

将之前安装进C盘的sim路径关联到目前的Lab仓库

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:: enter the cloned repository
cd IsaacLab
:: create a symbolic link - requires launching Command Prompt with Administrator access
mklink /D _isaac_sim %ISAACSIM_PATH%

:: For example:
:: Option 1: If pre-built binaries were installed:
:: mklink /D _isaac_sim C:\isaacsim
::
:: Option 2: If Isaac Sim was built from source:
:: mklink /D _isaac_sim C:\IsaacSim\_build\windows-x86_64\release

准备conda环境，安装好anaconda/miniconda后再lab目录中执行：

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:: Option 1: Default environment name 'env_isaaclab'
isaaclab.bat --conda  :: or "isaaclab.bat -c"
:: Option 2: Custom name
isaaclab.bat --conda my_env  :: or "isaaclab.bat -c my_env"

进入conda env, 安装isaaclab仓库：

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isaaclab.bat --install

这里最好有梯子，如果报错就重复运行安装命令，直到出现：

测试环境：

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isaaclab.bat -p scripts\tutorials\00_sim\create_empty.py