一. 创建并进入虚拟环境conda create -n env_isaaclab python3.11 conda activate env_isaaclab二. 安装Isaacsim (v5.1.0)方式一pip安装pip install -U torch2.7.0 torchvision0.22.0 --index-url https://download.pytorch.org/whl/cu128 pip install --upgrade pip pip install isaacsim[all,extscache]5.1.0 --extra-index-url https://pypi.nvidia.com按顺序执行命令即可在终端输入isaacsim如果出现以下画面则安装没问题第一次启动可能比较久方式二二进制源码安装1.下载资源地址https://docs.isaacsim.omniverse.nvidia.com/5.1.0/installation/download.html选择Isaac Sim组中的一个2. 解压在home目录下创建isaacsim文件夹并将下载的包解压到该文件夹3. 环境变量配置执行sudo gedit ~/.bashrc写入以下内容# Isaac Sim root directory export ISAACSIM_PATH${HOME}/isaacsim # Isaac Sim python executable export ISAACSIM_PYTHON_EXE${ISAACSIM_PATH}/python.sh4. 启动测试在home/usr/isaacsim路径下执行./isaac-sim.sh注usr是自己的用户名三. 安装Isaaclab1.下载代码git clone https://github.com/isaac-sim/IsaacLab.git2.安装包 (虚拟环境下)./isaaclab.sh -i3.运行测试python scripts/reinforcement_learning/skrl/train.py --taskIsaac-Ant-v0注大致流程是这样中途可能因为各种配置报错具体得让AI帮忙解决或者上网找解决方法