isaac sim和isaac lab的安装

进入文档：https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/download.html

下载好后执行命令：

mkdir ~/isaacsim

cd ~/Downloads

unzip "isaac-sim-standalone-4.5.0-linux-x86_64.zip" -d ~/isaacsim

cd ~/isaacsim

conda deactivate

./post_install.sh

./isaac-sim.selector.sh

isaaclab:：

https://isaac-sim.github.io/IsaacLab/main/index.html

选择2.1.1

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

ln -s ~/isaacsim/ _isaac_sim

./isaaclab.sh --conda

sudo apt install cmake build-essential

./isaaclab.sh --install

上面的抛弃了，使用以下方法：

conda create -n env_isaaclab python=3.10

pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128

pip install --upgrade pip

pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com

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

./isaaclab.sh --install # 或 "./isaaclab.sh -i"

./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py