From 24d371886de5c14fb72bbfd0cc5b0f52ef2ce5ac Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Fri, 24 Apr 2026 17:28:11 +0800
Subject: [PATCH 01/10] =?UTF-8?q?=E6=9B=B4=E6=94=B9mujoco=E6=96=87?=
 =?UTF-8?q?=E4=BB=B6=E4=BD=8D=E7=BD=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 {mujoco => sim/mujoco}/Dockerfile | 0
 {mujoco => sim/mujoco}/build.bash | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename {mujoco => sim/mujoco}/Dockerfile (100%)
 rename {mujoco => sim/mujoco}/build.bash (100%)

diff --git a/mujoco/Dockerfile b/sim/mujoco/Dockerfile
similarity index 100%
rename from mujoco/Dockerfile
rename to sim/mujoco/Dockerfile
diff --git a/mujoco/build.bash b/sim/mujoco/build.bash
similarity index 100%
rename from mujoco/build.bash
rename to sim/mujoco/build.bash

From a37ac40290ceebdc0f6d5b2ce971b84e9c21c5e6 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Fri, 24 Apr 2026 19:56:54 +0800
Subject: [PATCH 02/10] =?UTF-8?q?=E5=A2=9E=E5=8A=A0issac=20=E7=9A=84docker?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/issac/Dockerfile | 32 ++++++++++++++++++++++++++++++++
 sim/issac/build.bash | 41 +++++++++++++++++++++++++++++++++++++++++
 2 files changed, 73 insertions(+)
 create mode 100644 sim/issac/Dockerfile
 create mode 100755 sim/issac/build.bash

diff --git a/sim/issac/Dockerfile b/sim/issac/Dockerfile
new file mode 100644
index 0000000..d4b45d2
--- /dev/null
+++ b/sim/issac/Dockerfile
@@ -0,0 +1,32 @@
+FROM nvcr.io/nvidia/issac-sim:5.1.0
+USER root
+# --- 参数与环境变量配置 ---
+ARG USERNAME=Elaina
+ARG USER_UID=1000
+ARG USER_GID=1000
+# 基础定义
+ENV MAMBA_ROOT_PREFIX=/opt/conda
+ENV PATH=$MAMBA_ROOT_PREFIX/bin:$PATH
+ENV UV_SYSTEM_PYTHON=1
+RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 micromamba
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    zsh sudo 
+#增加用户
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /usr/bin/zsh \
+    && echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
+    && mkdir -p $MAMBA_ROOT_PREFIX \
+    && chown -R $USERNAME:$USER_GID $MAMBA_ROOT_PREFIX $ISAAC_SIM_PATH
+
+# 6. 安装 Oh My Zsh & Starship (提升开发体验)
+RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" "" --unattended \
+    && git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions \
+    && git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting \
+    && git clone https://github.com/esc/conda-zsh-completion ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/conda-zsh-completion \
+    && sed -i 's/plugins=(git)/plugins=(git zsh-autosuggestions zsh-syntax-highlighting conda-zsh-completion)/' ~/.zshrc \
+    && curl -sS https://starship.rs/install.sh | sh -s -- -y \
+    && echo 'eval "$(starship init zsh)"' >> ~/.zshrc \
+    && mkdir -p ~/.config \
+    && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
+# 安装issac lab
+CMD ["/usr/bin/zsh"]
diff --git a/sim/issac/build.bash b/sim/issac/build.bash
new file mode 100755
index 0000000..0275661
--- /dev/null
+++ b/sim/issac/build.bash
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# 获取脚本所在目录
+# 获取脚本所在目录的绝对路径
+SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+PARENT_DIR=$(dirname "$SCRIPT_DIR")
+
+echo "脚本目录: $SCRIPT_DIR"
+echo "父目录: $PARENT_DIR"
+
+# 设置默认 tag
+TAG="issac"
+
+# 从外部传入的 IMAGE_REPO（格式：ghcr.io/user/repo 或 docker.io/user/repo）
+IMAGE_REPO="elainasuki/other"
+
+# 组合完整镜像名
+IMAGE="$IMAGE_REPO:$TAG"
+
+# 获取工作流中的环境变量来决定是否支持 arm64
+PLATFORMS="linux/amd64"  # 默认只支持 amd64 架构
+
+if [[ "${BUILD_ARM64}" == "true" ]]; then
+    PLATFORMS="$PLATFORMS,linux/arm64"   # 如果环境变量 BUILD_ARM64 为 true，则支持 arm64 架构
+fi
+# 这里用的是docker build .. content是上一级而不是当前目录
+# 如果传入 --github-action 参数
+if [[ "$1" == "--github-action" ]]; then
+    echo "构建并推送镜像: $IMAGE"
+    docker buildx build \
+    --platform $PLATFORMS \
+    -t "$IMAGE" \
+    -f "$SCRIPT_DIR/Dockerfile" \
+    --cache-from "type=registry,ref=$IMAGE" \
+    --cache-to type=inline \
+    "$SCRIPT_DIR" \
+    --push
+else
+    echo "本地构建 $IMAGE"
+    docker build -t "$IMAGE" -f "$SCRIPT_DIR/Dockerfile" "$SCRIPT_DIR"
+fi
\ No newline at end of file

From 039f753a2dfde5ad1ab539c2aa2afb0d9a108006 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Fri, 24 Apr 2026 20:00:15 +0800
Subject: [PATCH 03/10] =?UTF-8?q?=E4=BF=AE=E5=A4=8Disaac=20=E6=89=93?=
 =?UTF-8?q?=E9=94=99=E7=9A=84=E8=AF=AD=E6=B3=95=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/issac/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/issac/Dockerfile b/sim/issac/Dockerfile
index d4b45d2..02a668b 100644
--- a/sim/issac/Dockerfile
+++ b/sim/issac/Dockerfile
@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/issac-sim:5.1.0
+FROM nvcr.io/nvidia/isaac-sim:5.1.0
 USER root
 # --- 参数与环境变量配置 ---
 ARG USERNAME=Elaina

From 62244e9845bd751bd93f4f28b46c219afa67c621 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Fri, 24 Apr 2026 20:25:45 +0800
Subject: [PATCH 04/10] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E8=AF=AD=E6=B3=95?=
 =?UTF-8?q?=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/issac/Dockerfile | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/sim/issac/Dockerfile b/sim/issac/Dockerfile
index 02a668b..e2bd03e 100644
--- a/sim/issac/Dockerfile
+++ b/sim/issac/Dockerfile
@@ -1,16 +1,19 @@
 FROM nvcr.io/nvidia/isaac-sim:5.1.0
 USER root
 # --- 参数与环境变量配置 ---
-ARG USERNAME=Elaina
-ARG USER_UID=1000
-ARG USER_GID=1000
-# 基础定义
-ENV MAMBA_ROOT_PREFIX=/opt/conda
-ENV PATH=$MAMBA_ROOT_PREFIX/bin:$PATH
-ENV UV_SYSTEM_PYTHON=1
-RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 micromamba
+# 1. 合并所有构建参数 (ARG)
+ARG USERNAME=Elaina \
+    USER_UID=1000 \
+    USER_GID=1000
+# 2. 合并所有环境变量 (ENV)
+ENV MAMBA_ROOT_PREFIX=/opt/conda \
+    PATH=/opt/conda/bin:$PATH \
+    UV_SYSTEM_PYTHON=1
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    zsh sudo 
+    zsh sudo ca-certificates bzip2 \
+    && rm -rf /var/lib/apt/lists/*
+RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 micromamba
+
 #增加用户
 RUN groupadd --gid $USER_GID $USERNAME \
     && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /usr/bin/zsh \

From a5f302c1f14d0a959617c76c7f20e7265001a3ef Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Fri, 24 Apr 2026 20:54:09 +0800
Subject: [PATCH 05/10] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E6=9E=84=E5=BB=BA?=
 =?UTF-8?q?=E5=A4=B1=E8=B4=A5=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/issac/Dockerfile | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/sim/issac/Dockerfile b/sim/issac/Dockerfile
index e2bd03e..0a62d3c 100644
--- a/sim/issac/Dockerfile
+++ b/sim/issac/Dockerfile
@@ -10,17 +10,19 @@ ENV MAMBA_ROOT_PREFIX=/opt/conda \
     PATH=/opt/conda/bin:$PATH \
     UV_SYSTEM_PYTHON=1
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    zsh sudo ca-certificates bzip2 \
+    zsh sudo ca-certificates bzip2 ninja-build openssh-client cmake git \
+    && curl -LsSf https://astral.sh/uv/install.sh | sh \
     && rm -rf /var/lib/apt/lists/*
-RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 micromamba
-
+ADD https://github.com/mamba-org/micromamba-releases/releases/latest/download/micromamba-linux-64 /usr/bin/micromamba
+RUN chmod +x /usr/bin/micromamba
 #增加用户
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /usr/bin/zsh \
-    && echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
-    && mkdir -p $MAMBA_ROOT_PREFIX \
-    && chown -R $USERNAME:$USER_GID $MAMBA_ROOT_PREFIX $ISAAC_SIM_PATH
-
+RUN usermod -l ${USERNAME} ubuntu \
+    &&  groupmod -n ${USERNAME} ubuntu  \
+    && usermod -d /home/${USERNAME} -m ${USERNAME}  \
+    && chsh -s /usr/bin/zsh ${USERNAME}  \
+    && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
+    && mkdir -p ${MAMBA_ROOT_PREFIX}  \
+    && chown -R ${USERNAME}:${USER_GID} ${MAMBA_ROOT_PREFIX}
 # 6. 安装 Oh My Zsh & Starship (提升开发体验)
 RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" "" --unattended \
     && git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions \

From ffc75c380f789e38054cbdd9620d797d07a609b5 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Fri, 24 Apr 2026 21:58:42 +0800
Subject: [PATCH 06/10] =?UTF-8?q?fix=20=E4=BF=AE=E5=A4=8D=E6=9E=84?=
 =?UTF-8?q?=E5=BB=BA=E9=97=AE=E9=A2=98=E6=9D=83=E9=99=90=E9=97=AE=E9=A2=98?=
 =?UTF-8?q?=EF=BC=8Czsh=E5=AE=89=E8=A3=85=E5=88=B0=E6=A0=B9=E7=9B=AE?=
 =?UTF-8?q?=E5=BD=95=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/{issac => isaac}/Dockerfile | 14 ++++++++++----
 sim/{issac => isaac}/build.bash |  2 +-
 2 files changed, 11 insertions(+), 5 deletions(-)
 rename sim/{issac => isaac}/Dockerfile (80%)
 rename sim/{issac => isaac}/build.bash (99%)

diff --git a/sim/issac/Dockerfile b/sim/isaac/Dockerfile
similarity index 80%
rename from sim/issac/Dockerfile
rename to sim/isaac/Dockerfile
index 0a62d3c..5b2265a 100644
--- a/sim/issac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -10,11 +10,11 @@ ENV MAMBA_ROOT_PREFIX=/opt/conda \
     PATH=/opt/conda/bin:$PATH \
     UV_SYSTEM_PYTHON=1
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    zsh sudo ca-certificates bzip2 ninja-build openssh-client cmake git \
+    zsh sudo ca-certificates bzip2 ninja-build openssh-client cmake git wget\
     && curl -LsSf https://astral.sh/uv/install.sh | sh \
     && rm -rf /var/lib/apt/lists/*
-ADD https://github.com/mamba-org/micromamba-releases/releases/latest/download/micromamba-linux-64 /usr/bin/micromamba
-RUN chmod +x /usr/bin/micromamba
+RUN wget -qO /usr/bin/micromamba https://github.com/mamba-org/micromamba-releases/releases/latest/download/micromamba-linux-64  \
+    && chmod +x /usr/bin/micromamba
 #增加用户
 RUN usermod -l ${USERNAME} ubuntu \
     &&  groupmod -n ${USERNAME} ubuntu  \
@@ -24,14 +24,20 @@ RUN usermod -l ${USERNAME} ubuntu \
     && mkdir -p ${MAMBA_ROOT_PREFIX}  \
     && chown -R ${USERNAME}:${USER_GID} ${MAMBA_ROOT_PREFIX}
 # 6. 安装 Oh My Zsh & Starship (提升开发体验)
+USER ${USERNAME}
+WORKDIR /home/$USERNAME
 RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" "" --unattended \
     && git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions \
     && git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting \
     && git clone https://github.com/esc/conda-zsh-completion ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/conda-zsh-completion \
     && sed -i 's/plugins=(git)/plugins=(git zsh-autosuggestions zsh-syntax-highlighting conda-zsh-completion)/' ~/.zshrc \
-    && curl -sS https://starship.rs/install.sh | sh -s -- -y \
+    && curl -sS https://starship.rs/install.sh | sudo sh -s -- -y \
     && echo 'eval "$(starship init zsh)"' >> ~/.zshrc \
     && mkdir -p ~/.config \
     && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
 # 安装issac lab
+USER root
+#把/isaac-sim目录权限改为当前用户,给可执行权限
+RUN chown -R ${USERNAME}:${USER_GID} /isaac-sim\
+    && chmod -R 775 /isaac-sim
 CMD ["/usr/bin/zsh"]
diff --git a/sim/issac/build.bash b/sim/isaac/build.bash
similarity index 99%
rename from sim/issac/build.bash
rename to sim/isaac/build.bash
index 0275661..ef56af3 100755
--- a/sim/issac/build.bash
+++ b/sim/isaac/build.bash
@@ -9,7 +9,7 @@ echo "脚本目录: $SCRIPT_DIR"
 echo "父目录: $PARENT_DIR"
 
 # 设置默认 tag
-TAG="issac"
+TAG="isaac"
 
 # 从外部传入的 IMAGE_REPO（格式：ghcr.io/user/repo 或 docker.io/user/repo）
 IMAGE_REPO="elainasuki/other"

From 627674189fc07ed3c100efcdde474d13dd24b7c6 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Fri, 24 Apr 2026 22:24:21 +0800
Subject: [PATCH 07/10] =?UTF-8?q?=E5=B9=B2=E6=8E=89=E6=94=B9=E6=9D=83?=
 =?UTF-8?q?=E9=99=90?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index 5b2265a..f09d9db 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -38,6 +38,6 @@ RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master
 # 安装issac lab
 USER root
 #把/isaac-sim目录权限改为当前用户,给可执行权限
-RUN chown -R ${USERNAME}:${USER_GID} /isaac-sim\
-    && chmod -R 775 /isaac-sim
-CMD ["/usr/bin/zsh"]
+# RUN chown -R ${USERNAME}:${USER_GID} /isaac-sim\
+#     && chmod -R 775 /isaac-sim
+CMD ["/usr/bin/zsh"]
\ No newline at end of file

From 34aad5dc20c1a1e0437fc73fe440d10a6d335797 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Sat, 25 Apr 2026 18:22:43 +0800
Subject: [PATCH 08/10] =?UTF-8?q?=E5=A2=9E=E5=8A=A0isaac=20lab?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index f09d9db..dbff2c7 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -36,7 +36,14 @@ RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master
     && mkdir -p ~/.config \
     && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
 # 安装issac lab
-USER root
+ENV ISAACSIM_PATH=/isaac-sim \
+    ISAACSIM_PYTHON_EXE=/isaac-sim/python.sh
+WORKDIR /home/${USERNAME}
+RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
+    && cd IsaacLab \
+    && ln -s ${ISAACSIM_PATH} _isaac_sim \
+    && ./isaaclab.sh --install rsl_rl sb3
+
 #把/isaac-sim目录权限改为当前用户,给可执行权限
 # RUN chown -R ${USERNAME}:${USER_GID} /isaac-sim\
 #     && chmod -R 775 /isaac-sim

From fd70349a774824fe1423782be16b7f51eafc4fd3 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Sat, 25 Apr 2026 19:04:44 +0800
Subject: [PATCH 09/10] =?UTF-8?q?=E5=B0=9D=E8=AF=95=E4=BF=AE=E5=A4=8D?=
 =?UTF-8?q?=E8=84=9A=E6=9C=AC=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index dbff2c7..03c86d9 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -37,7 +37,8 @@ RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master
     && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
 # 安装issac lab
 ENV ISAACSIM_PATH=/isaac-sim \
-    ISAACSIM_PYTHON_EXE=/isaac-sim/python.sh
+    ISAACSIM_PYTHON_EXE=/isaac-sim/python.sh\
+    TERM=xterm
 WORKDIR /home/${USERNAME}
 RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
     && cd IsaacLab \

From b4caae9fe019ffaa6f66d06905249d238faa3056 Mon Sep 17 00:00:00 2001
From: Elaina <1463967532@qq.com>
Date: Sat, 25 Apr 2026 19:39:43 +0800
Subject: [PATCH 10/10] =?UTF-8?q?=E5=86=99=E6=AD=BB=E6=88=90=E5=9B=BA?=
 =?UTF-8?q?=E5=AE=9A=E8=B7=AF=E5=BE=84?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sim/isaac/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index 03c86d9..a57d530 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -42,7 +42,7 @@ ENV ISAACSIM_PATH=/isaac-sim \
 WORKDIR /home/${USERNAME}
 RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
     && cd IsaacLab \
-    && ln -s ${ISAACSIM_PATH} _isaac_sim \
+    && ln -s /isaac-sim _isaac_sim \
     && ./isaaclab.sh --install rsl_rl sb3
 
 #把/isaac-sim目录权限改为当前用户,给可执行权限