一、安装isaac sim

conda create -n isaaclab python=3.10
conda activate isaaclab

pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu121

pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com

也可以指定版本安装如安装isaac sim 4.0：
pip install isaacsim==4.0.0.0 --extra-index-url https://pypi.nvidia.com
pip install isaacsim-extscache-physics==4.0.0.0 isaacsim-extscache-kit==4.0.0.0 isaacsim-extscache-kit-sdk==4.0.0.0 --extra-index-url https://pypi.nvidia.com

(注意：安装过程慢的时候使用清华源安装，-i https://pypi.tuna.tsinghua.edu.cn/simple)

验证：

isaacsim

二、安装isaac lab

git clone