【机器人】01 强化学习、模仿学习和运动规划 仿真平台ISAAC Lab安装与使用

ISAAC Lab 是 NVIDIA 提供的一个 GPU 加速的开源框架，专为简化机器人研究工作流程而设计，特别是在强化学习、模仿学习和运动规划等地方。

它基于 NVIDIA 的 ISAAC Sim 构建，结合了高精度的物理和传感器仿真，成为了从仿真到现实应用的理想选择。

本文会分享ISAAC Lab的安装和使用，通过conda和pip进行安装的，适用于windows系统，带大家规避一些坑。

目录

1、认识ISAAC Lab

2、安装ISAAC Sim

3、简单测试ISAAC Sim

4、安装ISAAC Lab

5、测试ISAAC Lab是否安装成功

6、案例：生成不同的四足机器人

1、认识ISAAC Lab

ISAAC Lab 提供了一套比较全面的工具和环境，包含了各种机器人模型、训练环境、物理仿真和传感器仿真。

• 机器人模型 Isaac Lab 提供 16 种常用的机器人模型，包括机械手、四足动物和类人机器人，满足不同的研究需求。
• 训练环境 提供 30 多个即用型训练环境，支持使用 RSL RL、SKRL、RL Games 和 Stable Baselines 等流行的强化学习框架进行训练，同时支持多智能体强化学习。
• 物理仿真 支持刚体、铰接系统和可变形物体的仿真，确保机器人在与环境互动时具有真实的物理表现。
• 传感器仿真 提供多种传感器仿真，包括 RGB 摄像头、深度摄像头、IMU、接触传感器等，帮助机器人更好地感知环境。  

代码开源地址：https://github.com/isaac-sim/IsaacLab

官方指导文档：https://isaac-sim.github.io/IsaacLab/main/source/setup/ecosystem.html

目前已经支持超过16 个机器人，如上图所示。

• 经典机器人：Cartpole， 类人生物， 蚂蚁

• 机械臂：UR10、Franka、Allegro、Shadow Hand

• 四足动物： Anybotics Anymal-B， Anymal-C， Anymal-D， Unitree A1， Unitree Go1， Unitree Go2， Boston Dynamics Spot

• 人形机器人：Unitree H1、Unitree G1

• 四轴飞行器：Crazyflie

添加其他机器人，参考这里

2、安装ISAAC Sim

ISAAC Lab是基于NVIDIA的ISAAC Sim构建的，需要先安装Isaac Sim。

2.1、首先创建conda环境

conda create -n isaaclab python=3.10

2.2、进入isaaclab环境

conda activate isaaclab

2.3、接着安装torch 2.4.0

pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118

安装好后，可以检测一下能否正常导入，在终端输入python，，再输入import torch

问题：正常是会报错的：OSError：................... fbgemm.dll

分析：这是由于torch 2.4.0需要依赖fbgemm.dll库，但本地电脑没有就会报错了

解决方案：下载libomp140.x86_64.dll，然后放到C:\\Windows\\System32中

libomp140.x86_64.dll 下载地址

2.4、安装numpy 1.26.4

pip install numpy==1.26.4 -i https://pypi.tuna.tsinghua.edu.cn/simple

这时再检测能否正常导入torch，import torch，正常是没问题了。

2.5、更新一下pip

pip install --upgrade pip

2.6、开始安装Isaac Sim

pip install isaacsim==4.2.0.2 -i https://pypi.tuna.tsinghua.edu.cn/simple

这里我没有参考官网的，因为官方使用pypi.nvidia.com，太慢了；用清华源更快~

再安装一些依赖包

pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app -i https://pypi.tuna.tsinghua.edu.cn/simple

3、简单测试ISAAC Sim

输入下面命令，会打开一个黑色窗口的

isaacsim

首次运行 ISAAC Sim 时，将从注册表中提取所有依赖的扩展。 此过程可能需要 10 分钟以上，太慢了。  

首次运行将提示用户接受 Nvidia Omniverse 许可协议，需要输入yes

By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)in https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.htmlDo you accept the EULA? (Yes/No): yes

 看到打印下面信息：

还有显卡的情况

经过漫长的等待，终于看到kit Mini这个窗口啦

4、安装ISAAC Lab

下载ISAAC Lab的代码

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

然后进入IsaacLab-main目录中，能看到 isaaclab.bat文件（后续经常使用这个文件的）

默认isaaclab.bat中安装东西时太慢了，下面是我修改了源码的，下载和安装东西时更快

可以参考使用，也可以用官方默认的

@echo offsetlocal EnableExtensions EnableDelayedExpansionrem Copyright (c) 2022-2024, The Isaac Lab Project Developers.rem All rights reserved.remrem SPDX-License-Identifier: BSD-3-Clauserem Configurationsset \"ISAACLAB_PATH=%~dp0\"goto mainrem Helper functionsrem extract Isaac Sim directory:extract_isaacsim_pathrem Use the sym-link path to Isaac Sim directoryset isaac_path=%ISAACLAB_PATH%\\_isaac_simrem Check if directory existsif not exist \"%isaac_path%\" ( rem Find the Python executable call :extract_python_exe rem retrieve the isaacsim path from the installed package set \"isaac_path=\" for /f \"delims=\" %%i in (\'!python_exe! -c \"import isaacsim; import os; print(os.environ[\'ISAAC_PATH\'])\"\') do ( if not defined isaac_path ( set \"isaac_path=%%i\" ) ))rem Check if the directory existsif not exist \"%isaac_path%\" ( echo [ERROR] Unable to find the Isaac Sim directory: %isaac_path% echo %tab%This could be due to the following reasons: echo %tab%1. Conda environment with Isaac Sim pip package is not activated. echo %tab%2. Isaac Sim directory is not available at the default path: %ISAACLAB_PATH%\\_isaac_sim exit /b 1)goto :eofrem extract the python from isaacsim:extract_python_exerem check if using condaif not \"%CONDA_PREFIX%\"==\"\" ( rem use conda python set python_exe=%CONDA_PREFIX%\\python.exe) else ( rem use kit python set python_exe=%ISAACLAB_PATH%\\_isaac_sim\\python.bat)rem check for if isaac sim was installed to system pythonif not exist \"%python_exe%\" ( set \"python_exe=\" python -m pip show isaacsim-rl > nul 2>&1 if %ERRORLEVEL% equ 0 ( for /f \"delims=\" %%i in (\'where python\') do ( if not defined python_exe ( set \"python_exe=%%i\" ) ) ))if not exist \"%python_exe%\" ( echo [ERROR] Unable to find any Python executable at path: %python_exe% echo %tab%This could be due to the following reasons: echo %tab%1. Conda environment is not activated. echo %tab%2. Python executable is not available at the default path: %ISAACLAB_PATH%\\_isaac_sim\\python.bat exit /b 1)goto :eofrem extract the simulator exe from isaacsim:extract_isaacsim_execall :extract_python_execall !python_exe! -m pip show isaacsim-rl > nul 2>&1if errorlevel 1 ( rem obtain isaacsim path call :extract_isaacsim_path rem python executable to use set isaacsim_exe=!isaac_path!\\isaac-sim.bat) else ( rem if isaac sim installed from pip set isaacsim_exe=isaacsim omni.isaac.sim)rem check if there is a python path availableif not exist \"%isaacsim_exe%\" ( echo [ERROR] No isaac-sim executable found at path: %isaacsim_exe% exit /b 1)goto :eofrem check if input directory is a python extension and install the module:install_isaaclab_extensionecho %ext_folder%rem retrieve the python executablecall :extract_python_exerem if the directory contains setup.py then install the python moduleif exist \"%ext_folder%\\setup.py\" ( echo module: %ext_folder% call !python_exe! -m pip install --editable %ext_folder% -i https://pypi.tuna.tsinghua.edu.cn/simple)goto :eofrem setup anaconda environment for Isaac Lab:setup_conda_envrem get environment name from inputset env_name=%conda_env_name%rem check if conda is installedwhere conda >nul 2>nulif errorlevel 1 ( echo [ERROR] Conda could not be found. Please install conda and try again. exit /b 1)rem check if the environment existscall conda env list | findstr /c:\"%env_name%\" >nulif %errorlevel% equ 0 ( echo [INFO] Conda environment named \'%env_name%\' already exists.) else ( echo [INFO] Creating conda environment named \'%env_name%\'... call conda create -y --name %env_name% python=3.10)rem cache current paths for laterset \"cache_pythonpath=%PYTHONPATH%\"set \"cache_ld_library_path=%LD_LIBRARY_PATH%\"rem clear any existing filesecho %CONDA_PREFIX%del \"%CONDA_PREFIX%\\etc\\conda\\activate.d\\setenv.bat\" 2>nuldel \"%CONDA_PREFIX%\\etc\\conda\\deactivate.d\\unsetenv.bat\" 2>nulrem activate the environmentcall conda activate %env_name%rem setup directories to load isaac-sim variablesmkdir \"%CONDA_PREFIX%\\etc\\conda\\activate.d\" 2>nulmkdir \"%CONDA_PREFIX%\\etc\\conda\\deactivate.d\" 2>nulrem obtain isaacsim pathcall :extract_isaacsim_pathif exist \"%isaac_path%\" ( rem add variables to environment during activation ( echo @echo off echo rem for isaac-sim echo set \"RESOURCE_NAME=IsaacSim\" echo set CARB_APP_PATH=!isaac_path!\\kit echo set EXP_PATH=!isaac_path!\\apps echo set ISAAC_PATH=!isaac_path! echo set PYTHONPATH=%PYTHONPATH%;!isaac_path!\\site echo. echo rem for isaac-lab echo doskey isaaclab=isaaclab.bat $* ) > \"%CONDA_PREFIX%\\etc\\conda\\activate.d\\env_vars.bat\" ( echo $env:CARB_APP_PATH=\"!isaac_path!\\kit\" echo $env:EXP_PATH=\"!isaac_path!\\apps\" echo $env:ISAAC_PATH=\"!isaac_path!\" echo $env:PYTHONPATH=\"%PYTHONPATH%;!isaac_path!\\site\" echo $env:RESOURCE_NAME=\"IsaacSim\" ) > \"%CONDA_PREFIX%\\etc\\conda\\activate.d\\env_vars.ps1\") else ( rem assume isaac sim will be installed from pip rem add variables to environment during activation ( echo @echo off echo rem for isaac-sim echo set \"RESOURCE_NAME=IsaacSim\" echo. echo rem for isaac-lab echo doskey isaaclab=isaaclab.bat $* ) > \"%CONDA_PREFIX%\\etc\\conda\\activate.d\\env_vars.bat\" ( echo $env:RESOURCE_NAME=\"IsaacSim\" ) > \"%CONDA_PREFIX%\\etc\\conda\\activate.d\\env_vars.ps1\")rem reactivate the environment to load the variablescall conda activate %env_name%rem remove variables from environment during deactivation( echo @echo off echo rem for isaac-sim echo set \"CARB_APP_PATH=\" echo set \"EXP_PATH=\" echo set \"ISAAC_PATH=\" echo set \"RESOURCE_NAME=\" echo. echo rem for isaac-lab echo doskey isaaclab = echo. echo rem restore paths echo set \"PYTHONPATH=%cache_pythonpath%\" echo set \"LD_LIBRARY_PATH=%cache_ld_library_path%\") > \"%CONDA_PREFIX%\\etc\\conda\\deactivate.d\\unsetenv_vars.bat\"( echo $env:RESOURCE_NAME=\"\" echo $env:PYTHONPATH=\"%cache_pythonpath%\" echo $env:LD_LIBRARY_PATH=\"%cache_pythonpath%\") > \"%CONDA_PREFIX%\\etc\\conda\\deactivate.d\\unsetenv_vars.ps1\"rem install some extra dependenciesecho [INFO] Installing extra dependencies (this might take a few minutes)...call conda install -c conda-forge -y importlib_metadata >nul 2>&1rem deactivate the environmentcall conda deactivaterem add information to the user about aliasecho [INFO] Added \'isaaclab\' alias to conda environment for \'isaaclab.bat\' script.echo [INFO] Created conda environment named \'%env_name%\'.echo.echo 1. To activate the environment, run: conda activate %env_name%echo 2. To install Isaac Lab extensions, run: isaaclab -iecho 3. To perform formatting, run:isaaclab -fecho 4. To deactivate the environment, run:  conda deactivateecho.goto :eofrem Update the vscode settings from template and Isaac Sim settings:update_vscode_settingsecho [INFO] Setting up vscode settings...rem Retrieve the python executablecall :extract_python_exerem Path to setup_vscode.pyset \"setup_vscode_script=%ISAACLAB_PATH%\\.vscode\\tools\\setup_vscode.py\"rem Check if the file exists before attempting to run itif exist \"%setup_vscode_script%\" ( call !python_exe! \"%setup_vscode_script%\") else ( echo [WARNING] setup_vscode.py not found. Aborting vscode settings setup.)goto :eofrem Print the usage description:print_helpecho.echo usage: %~nx0 [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.echo.echo optional arguments:echo -h, --help  Display the help content.echo -i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is \'all\'.echo -f, --format Run pre-commit to format the code and check lints.echo -p, --python Run the python executable (python.bat) provided by Isaac Sim.echo -s, --sim Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.echo -t, --test  Run all python unittest tests.echo -v, --vscode Generate the VSCode settings file from template.echo -d, --docs  Build the documentation from source using sphinx.echo -c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is \'isaaclab\'.echo.goto :eofrem Main:mainrem check argument providedif \"%~1\"==\"\" ( echo [Error] No arguments provided. call :print_help exit /b 1)rem pass the arguments:loopif \"%~1\"==\"\" goto :endset \"arg=%~1\"rem read the keyif \"%arg%\"==\"-i\" ( rem install the python packages in omni.isaac.rl/source directory echo [INFO] Installing extensions inside the Isaac Lab repository... call :extract_python_exe for /d %%d in (\"%ISAACLAB_PATH%\\source\\extensions\\*\") do ( set ext_folder=\"%%d\" call :install_isaaclab_extension ) rem install the python packages for supported reinforcement learning frameworks echo [INFO] Installing extra requirements such as learning frameworks... if \"%~2\"==\"\" ( echo [INFO] Installing all rl-frameworks. set framework_name=all ) else if \"%~2\"==\"none\" ( echo [INFO] No rl-framework will be installed. set framework_name=none shift ) else ( echo [INFO] Installing rl-framework: %2. set framework_name=%2 shift ) rem install the rl-frameworks specified call !python_exe! -m pip install -e %ISAACLAB_PATH%\\source\\extensions\\omni.isaac.lab_tasks[!framework_name!] -i https://pypi.tuna.tsinghua.edu.cn/simple shift) else if \"%arg%\"==\"--install\" ( rem install the python packages in omni.isaac.rl/source directory echo [INFO] Installing extensions inside the Isaac Lab repository... call :extract_python_exe for /d %%d in (\"%ISAACLAB_PATH%\\source\\extensions\\*\") do ( set ext_folder=\"%%d\" call :install_isaaclab_extension ) rem install the python packages for supported reinforcement learning frameworks echo [INFO] Installing extra requirements such as learning frameworks... if \"%~2\"==\"\" ( echo [INFO] Installing all rl-frameworks. set framework_name=all ) else if \"%~2\"==\"none\" ( echo [INFO] No rl-framework will be installed. set framework_name=none shift ) else ( echo [INFO] Installing rl-framework: %2. set framework_name=%2 shift ) rem install the rl-frameworks specified call !python_exe! -m pip install -e %ISAACLAB_PATH%\\source\\extensions\\omni.isaac.lab_tasks[!framework_name!] -i https://pypi.tuna.tsinghua.edu.cn/simple rem update the vscode settings rem once we have a docker container, we need to disable vscode settings call :update_vscode_settings shift) else if \"%arg%\"==\"-c\" ( rem use default name if not provided if not \"%~2\"==\"\" ( echo [INFO] Using conda environment name: %2 set conda_env_name=%2 shift ) else ( echo [INFO] Using default conda environment name: isaaclab set conda_env_name=isaaclab ) call :setup_conda_env %conda_env_name% shift) else if \"%arg%\"==\"--conda\" ( rem use default name if not provided if not \"%~2\"==\"\" ( echo [INFO] Using conda environment name: %2 set conda_env_name=%2 shift ) else ( echo [INFO] Using default conda environment name: isaaclab set conda_env_name=isaaclab ) call :setup_conda_env %conda_env_name% shift) else if \"%arg%\"==\"-f\" ( rem reset the python path to avoid conflicts with pre-commit rem this is needed because the pre-commit hooks are installed in a separate virtual environment rem and it uses the system python to run the hooks if not \"%CONDA_DEFAULT_ENV%\"==\"\" ( set cache_pythonpath=%PYTHONPATH% set PYTHONPATH= ) rem run the formatter over the repository rem check if pre-commit is installed pip show pre-commit > nul 2>&1 if errorlevel 1 ( echo [INFO] Installing pre-commit... pip install pre-commit -i https://pypi.tuna.tsinghua.edu.cn/simple ) rem always execute inside the Isaac Lab directory echo [INFO] Formatting the repository... pushd %ISAACLAB_PATH% call python -m pre_commit run --all-files popd >nul rem set the python path back to the original value if not \"%CONDA_DEFAULT_ENV%\"==\"\" ( set PYTHONPATH=%cache_pythonpath% ) goto :end) else if \"%arg%\"==\"--format\" ( rem reset the python path to avoid conflicts with pre-commit rem this is needed because the pre-commit hooks are installed in a separate virtual environment rem and it uses the system python to run the hooks if not \"%CONDA_DEFAULT_ENV%\"==\"\" ( set cache_pythonpath=%PYTHONPATH% set PYTHONPATH= ) rem run the formatter over the repository rem check if pre-commit is installed pip show pre-commit > nul 2>&1 if errorlevel 1 ( echo [INFO] Installing pre-commit... pip install pre-commit -i https://pypi.tuna.tsinghua.edu.cn/simple ) rem always execute inside the Isaac Lab directory echo [INFO] Formatting the repository... pushd %ISAACLAB_PATH% call python -m pre_commit run --all-files popd >nul rem set the python path back to the original value if not \"%CONDA_DEFAULT_ENV%\"==\"\" ( set PYTHONPATH=%cache_pythonpath% ) goto :end) else if \"%arg%\"==\"-p\" ( rem run the python provided by Isaac Sim call :extract_python_exe echo [INFO] Using python from: !python_exe! REM Loop through all arguments - mimic shift set \"allArgs=\" for %%a in (%*) do ( REM Append each argument to the variable, skip the first one if defined skip ( set \"allArgs=!allArgs! %%a\" ) else ( set \"skip=1\" ) ) !python_exe! !allArgs! goto :end) else if \"%arg%\"==\"--python\" ( rem run the python provided by Isaac Sim call :extract_python_exe echo [INFO] Using python from: !python_exe! REM Loop through all arguments - mimic shift set \"allArgs=\" for %%a in (%*) do ( REM Append each argument to the variable, skip the first one if defined skip ( set \"allArgs=!allArgs! %%a\" ) else ( set \"skip=1\" ) ) !python_exe! !allArgs! goto :end) else if \"%arg%\"==\"-s\" ( rem run the simulator exe provided by isaacsim call :extract_isaacsim_exe echo [INFO] Running isaac-sim from: !isaacsim_exe! set \"allArgs=\" for %%a in (%*) do ( REM Append each argument to the variable, skip the first one if defined skip ( set \"allArgs=!allArgs! %%a\" ) else ( set \"skip=1\" ) ) !isaacsim_exe! --ext-folder %ISAACLAB_PATH%\\source\\extensions !allArgs1 goto :end) else if \"%arg%\"==\"--sim\" ( rem run the simulator exe provided by Isaac Sim call :extract_isaacsim_exe echo [INFO] Running isaac-sim from: !isaacsim_exe! set \"allArgs=\" for %%a in (%*) do ( REM Append each argument to the variable, skip the first one if defined skip ( set \"allArgs=!allArgs! %%a\" ) else ( set \"skip=1\" ) ) !isaacsim_exe! --ext-folder %ISAACLAB_PATH%\\source\\extensions !allArgs1 goto :end) else if \"%arg%\"==\"-t\" ( rem run the python provided by Isaac Sim call :extract_python_exe set \"allArgs=\" for %%a in (%*) do ( REM Append each argument to the variable, skip the first one if defined skip ( set \"allArgs=!allArgs! %%a\" ) else ( set \"skip=1\" ) ) !python_exe! tools\\run_all_tests.py !allArgs! goto :end) else if \"%arg%\"==\"--test\" ( rem run the python provided by Isaac Sim call :extract_python_exe set \"allArgs=\" for %%a in (%*) do ( REM Append each argument to the variable, skip the first one if defined skip ( set \"allArgs=!allArgs! %%a\" ) else ( set \"skip=1\" ) ) !python_exe! tools\\run_all_tests.py !allArgs! goto :end) else if \"%arg%\"==\"-v\" ( rem update the vscode settings call :update_vscode_settings shift goto :end) else if \"%arg%\"==\"--vscode\" ( rem update the vscode settings call :update_vscode_settings shift goto :end) else if \"%arg%\"==\"-d\" ( rem build the documentation echo [INFO] Building documentation... call :extract_python_exe pushd %ISAACLAB_PATH%\\docs call !python_exe! -m pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple call !python_exe! -m sphinx -b html -d _build\\doctrees . _build\\html echo [INFO] To open documentation on default browser, run: echo xdg-open \"%ISAACLAB_PATH%\\docs\\_build\\html\\index.html\" popd >nul shift goto :end) else if \"%arg%\"==\"--docs\" ( rem build the documentation echo [INFO] Building documentation... call :extract_python_exe pushd %ISAACLAB_PATH%\\docs call !python_exe! -m pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple call !python_exe! -m sphinx -b html -d _build\\doctrees . _build\\current echo [INFO] To open documentation on default browser, run: echo xdg-open \"%ISAACLAB_PATH%\\docs\\_build\\current\\index.html\" popd >nul shift goto :end) else if \"%arg%\"==\"-h\" ( call :print_help goto :end) else if \"%arg%\"==\"--help\" ( call :print_help goto :end) else ( echo Invalid argument provided: %arg% call :print_help exit /b 1)goto loop:endexit /b 0

查看 isaaclab.bat 的使用方式，输入.\\isaaclab.bat --help

(isaaclab) PS D:\\2024\\project\\IsaacLab-main>
(isaaclab) PS D:\\2024\\project\\IsaacLab-main> .\\isaaclab.bat --help

usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.

optional arguments:
    -h, --help           Display the help content.
    -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is \'all\'.
    -f, --format         Run pre-commit to format the code and check lints.
    -p, --python         Run the python executable (python.bat) provided by Isaac Sim.
    -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
    -t, --test           Run all python unittest tests.
    -v, --vscode         Generate the VSCode settings file from template.
    -d, --docs           Build the documentation from source using sphinx.
    -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is \'isaaclab\'.

(isaaclab) PS D:\\2024\\project\\IsaacLab-main>

然后安装ISAAC Lab，这里有两种方式；

方式1：默认完整版

.\\isaaclab.bat --install :: or \"isaaclab.bat -i\"

默认情况下，这将安装所有学习框架

这个方式大概率会报错，但不影响基本使用，先不管了

Building wheels for collected packages: omni-isaac-lab_tasks Building editable for omni-isaac-lab_tasks (pyproject.toml) ... done Created wheel for omni-isaac-lab_tasks: filename=omni_isaac_lab_tasks-0.10.13-0.editable-py3-none-any.whl size=3640 sha256=52d4aa52691354e4437813125cb7e91333fb9d6eaa99af4fa1b86a30daef7efe Stored in directory: C:\\Users\\Administrator\\AppData\\Local\\Temp\\pip-ephem-wheel-cache-5f9mh9wj\\wheels\\2b\\14\\1f\\9435ad243a14599ab9b4defd2f8e13254e2e390ed93098a57fSuccessfully built omni-isaac-lab_tasksInstalling collected packages: omni-isaac-lab_tasks Attempting uninstall: omni-isaac-lab_tasks Found existing installation: omni-isaac-lab_tasks 0.10.13 Uninstalling omni-isaac-lab_tasks-0.10.13: Successfully uninstalled omni-isaac-lab_tasks-0.10.13Successfully installed omni-isaac-lab_tasks-0.10.13[INFO] Installing extra requirements such as learning frameworks...[INFO] Installing rl-framework: ::.ERROR: Exception:Traceback (most recent call last): File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_vendor\\packaging\\requirements.py\", line 36, in __init__ parsed = _parse_requirement(requirement_string) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_vendor\\packaging\\_parser.py\", line 62, in parse_requirement return _parse_requirement(Tokenizer(source, rules=DEFAULT_RULES)) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_vendor\\packaging\\_parser.py\", line 77, in _parse_requirement extras = _parse_extras(tokenizer) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_vendor\\packaging\\_parser.py\", line 164, in _parse_extras with tokenizer.enclosing_tokens( File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\contextlib.py\", line 142, in __exit__ next(self.gen) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_vendor\\packaging\\_tokenizer.py\", line 189, in enclosing_tokens self.raise_syntax_error( File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_vendor\\packaging\\_tokenizer.py\", line 167, in raise_syntax_error raise ParserSyntaxError(pip._vendor.packaging._tokenizer.ParserSyntaxError: Expected matching RIGHT_BRACKET for LEFT_BRACKET, after extras placeholder[::]  ~^The above exception was the direct cause of the following exception:Traceback (most recent call last): File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\cli\\base_command.py\", line 105, in _run_wrapper status = _inner_run() File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\cli\\base_command.py\", line 96, in _inner_run return self.run(options, args) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\cli\\req_command.py\", line 67, in wrapper return func(self, options, args) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\commands\\install.py\", line 343, in run reqs = self.get_requirements(args, options, finder, session) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\cli\\req_command.py\", line 244, in get_requirements req_to_add = install_req_from_editable( File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\req\\constructors.py\", line 235, in install_req_from_editable parts = parse_req_from_editable(editable_req) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\req\\constructors.py\", line 204, in parse_req_from_editable name, url, extras_override = parse_editable(editable_req) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\req\\constructors.py\", line 113, in parse_editable get_requirement(\"placeholder\" + extras.lower()).extras, File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_internal\\utils\\packaging.py\", line 45, in get_requirement return Requirement(req_string) File \"D:\\ProgramData\\anaconda3\\envs\\isaaclab\\lib\\site-packages\\pip\\_vendor\\packaging\\requirements.py\", line 38, in __init__ raise InvalidRequirement(str(e)) from epip._vendor.packaging.requirements.InvalidRequirement: Expected matching RIGHT_BRACKET for LEFT_BRACKET, after extras placeholder[::]  ~^[INFO] Setting up vscode settings...[WARN] Could not find Isaac Sim VSCode settings: D:\\ProgramData\\anaconda3\\envs\\isaaclab\\Lib\\site-packages\\isaacsim\\.vscode\\settings.json. This will result in missing \'python.analysis.extraPaths\' in the VSCode settings, which limits the functionality of the Python language server. However, it does not affect the functionality of the Isaac Lab project. We are working on a fix for this issue with the Isaac Sim team.Invalid argument provided: orusage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.optional arguments: -h, --help  Display the help content. -i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is \'all\'. -f, --format Run pre-commit to format the code and check lints. -p, --python Run the python executable (python.bat) provided by Isaac Sim. -s, --sim Run the simulator executable (isaac-sim.bat) provided by Isaac Sim. -t, --test  Run all python unittest tests. -v, --vscode Generate the VSCode settings file from template. -d, --docs  Build the documentation from source using sphinx. -c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is \'isaaclab\'.

方式2：精简版

.\\isaaclab.bat --install rl_games :: or \"isaaclab.bat -i rl_games\"

只想安装特定框架，则可以将框架的名称作为参数传递。

参数值：rl_games、rsl_rl、sb3、skrl、robomimic、none

安装成功后，如下图所示的： 

​

5、测试ISAAC Lab是否安装成功

输入下面命令

.\\isaaclab.bat -p source\\standalone\\tutorials\\00_sim\\create_empty.py

需要等待一会~

然后出现下面窗口，成功啦

6、案例：生成不同的四足机器人

输入下面命令

.\\isaaclab.bat -p source\\standalone\\demos\\quadrupeds.py

需要等待一会~

出现下面窗口，看到不同的四足机器人，成功啦

其他的功能也可以慢慢探索啦

分享完成~

后续会持续分析ISAAC Lab的内容，包括机器人的强化学习、模仿学习和运动规划实现仿真。