diff --git a/sim/isaac-uv/Dockerfile b/sim/isaac-uv/Dockerfile
new file mode 100644
index 0000000..f6af9f9
--- /dev/null
+++ b/sim/isaac-uv/Dockerfile
@@ -0,0 +1,89 @@
+FROM nvidia/cuda:12.6.3-base-ubuntu22.04
+
+# --- 1. 用户与权限配置 ---
+ARG USERNAME=Elaina
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN groupadd --gid ${USER_GID} ${USERNAME} \
+    && useradd --uid ${USER_UID} --gid ${USER_GID} -G root -m -s /usr/local/bin/zsh ${USERNAME} \
+    && apt-get update && apt-get install -y sudo \
+    && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
+    && rm -rf /var/lib/apt/lists/*
+SHELL ["/bin/bash", "-c"]
+
+# --- 2. 环境变量配置 ---
+ENV MAMBA_ROOT_PREFIX=/usr/local \
+    UV_SYSTEM_PYTHON=1 \
+    ISAACSIM_PATH=/isaac-sim 
+
+# --- 3. 安装包管理工具与 GUI 核心依赖 (APT) ---
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl ca-certificates tar bzip2 unzip \
+    libatomic1 libgomp1 libglib2.0-0 libnghttp2-14 \
+    libegl1 libgl1 libglu1-mesa libglx0 libsm6 libxi6 libxrandr2 libxt6 \
+    # 渲染与窗口支持
+    libvulkan1 vulkan-tools libx11-6 libxau6 libxcb1 libxdmcp6 libxext6 \
+    && curl -LsSf https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xj -C /usr/bin/ --strip-components=1 bin/micromamba \
+    && apt-get -y autoremove \
+    #清理中间缓存
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* \
+    #给权限!重要
+    && chown -R ${USERNAME}:${USER_GID} /usr/local
+# --- 合并官方所有驱动配置逻辑 ---
+RUN mkdir -p /usr/share/glvnd/egl_vendor.d /etc/vulkan/icd.d /etc/vulkan/implicit_layer.d \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_nvidia.so.0"}}\n' > /usr/share/glvnd/egl_vendor.d/10_nvidia.json \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_mesa.so.0"}}\n' > /usr/share/glvnd/egl_vendor.d/50_mesa.json \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.194"}}\n' > /etc/vulkan/icd.d/nvidia_icd.json \
+    && printf '{"file_format_version":"1.0.0","layer":{"name":"VK_LAYER_NV_optimus","type":"INSTANCE","library_path":"libGLX_nvidia.so.0","api_version":"1.3.194","implementation_version":"1","description":"NVIDIA Optimus layer","functions":{"vkGetInstanceProcAddr":"vk_optimusGetInstanceProcAddr","vkGetDeviceProcAddr":"vk_optimusGetDeviceProcAddr"},"enable_environment":{"__NV_PRIME_RENDER_OFFLOAD":"1"},"disable_environment":{"DISABLE_LAYER_NV_OPTIMUS_1":""}}}\n' > /etc/vulkan/implicit_layer.d/nvidia_layers.json 
+# --- 合并所有相关的环境变量 ---
+ENV NVIDIA_VISIBLE_DEVICES=all \
+    NVIDIA_DRIVER_CAPABILITIES=all \
+    VK_DRIVER_FILES=/etc/vulkan/icd.d/nvidia_icd.json
+USER ${USERNAME}
+# --- 4. Micromamba 强制安装系统级工具 (禁止环境隔离) ---
+# 安装 Python 3.11 (Isaac Sim 5.1 必需) 及开发工具到 /usr
+RUN micromamba install -y  -c conda-forge \
+    python=3.11 uv\ 
+    zsh git wget cmake ninja openssh \
+    && micromamba clean --all --yes
+
+# --- 5. 使用 UV 安装 Isaac Sim (前置安装) ---
+# 接受 EULA 环境变量 (根据 NVIDIA 要求)
+ENV ACCEPT_EULA=Y
+USER ${USERNAME}
+RUN uv pip install --system --no-cache\
+    --extra-index-url https://pypi.nvidia.com \
+    "isaacsim[all,extscache]==5.1.0"
+
+# --- 6. 开发环境配置 (Oh My Zsh & Starship) ---
+
+WORKDIR /home/${USERNAME}
+
+#先安装isaac lab
+ENV ISAACLAB_PATH=/home/${USERNAME}/IsaacLab
+
+RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git ${ISAACLAB_PATH} \
+    && cd ${ISAACLAB_PATH} \
+    # 1. 安装核心构建依赖 (注意去掉了多余的 install)
+    && uv pip install --system --no-cache "setuptools<82.0.0" \
+    # 2. 安装内部扩展模块
+    # 注意：在 Docker 生产/运行镜像中，通常去掉 -e 会更稳定，这里保留以符合你脚本逻辑
+    && find "${ISAACLAB_PATH}/source" -mindepth 1 -maxdepth 1 -type d -exec uv pip install --system --no-cache -e "{}" \; \
+    # 3. 安装 RL 框架支持
+    && uv pip install --system --no-cache -e "${ISAACLAB_PATH}/source/isaaclab_rl[sb3,rsl_rl]" 
+
+
+RUN sh -c "$(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 ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/conda-zsh-completion \
+    && sed -i 's/plugins=(git)/plugins=(git zsh-autosuggestions zsh-syntax-highlighting conda-zsh-completion)/' ~/.zshrc \
+    && curl -sS https://starship.rs/install.sh | sudo sh -s -- -y \
+    && echo 'eval "$(starship init zsh)"' >> ~/.zshrc \
+    && mkdir -p ~/.config \
+    && printf '[username]\nshow_always = true\nstyle_user = "bold #af87ff"\nformat = "[$user]($style) "' > ~/.config/starship.toml
+
+
+CMD ["/usr/bin/zsh"]
\ No newline at end of file
diff --git a/sim/isaac-uv/build.bash b/sim/isaac-uv/build.bash
new file mode 100755
index 0000000..6384453
--- /dev/null
+++ b/sim/isaac-uv/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: $PARENT_DIR"
+
+# 设置默认 tag
+TAG="isaac-uv"
+
+# 从外部传入的 IMAGE_REPO（格式：ghcr.io/user/repo 或 docker.io/user/repo）
+IMAGE_REPO="elainasuki/other"
+
+# 组合完整镜像名
+IMAGE="$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
diff --git a/sim/isaac/Dockerfile b/sim/isaac/Dockerfile
index a57d530..ac9ff55 100644
--- a/sim/isaac/Dockerfile
+++ b/sim/isaac/Dockerfile
@@ -43,7 +43,8 @@ WORKDIR /home/${USERNAME}
 RUN git clone --depth 1 https://github.com/isaac-sim/IsaacLab.git \
     && cd IsaacLab \
     && ln -s /isaac-sim _isaac_sim \
-    && ./isaaclab.sh --install rsl_rl sb3
+    &&  ./isaaclab.sh --install rsl_rl sb3 || true
+
 
 #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\