You'll take the Metro from your hotel to the Louvre or Orsay, whichever you want to go to first. You'll walk from the Orsay to the Louvre, or vice versa. The Louvre is just north of the river and the Orsay is practically across the river from the Louvre.
To Versailles is different, you'll take the RER-C train to Versailles, after using the Metro to get to a station where you can connect to the RER train. You'll have to do a little research to find out how the Metro and RER work.
Realistically, you won't want to try to see all 3 in one day. Versailles is 35 minutes southwest of Paris and the lines both outside and inside are long, and it's huge. Most people seem to take most of the day to see Versailles.
The Louvre is one of the largest museums in the world, so you won't "see" it in a few hours, that would take days, months, or years. You'll do some research and pick a couple of sections of the Louvre that are of most interest to you, and then you can spend 2 to 4 hours in the Louvre.
The Orsay is much smaller than the Louvre, you can actually see most of the Orsay is half a day.
So you could do Versailles in one day and the Louvre and Orsay in another day.
I've seen both museums many times but on last month's trip to Paris we spent all day at the Louvre, eating lunch and dinner at the food venues there. And then on another day spend 6 hours and lunch at the Orsay and then returned another evening when they are open late.
But I'm an art nut and love the Orsay Cafe. For you, you can still see some of both museums in the time I've described above.