# Tutorial: Install IsaacSim and IsaacLab

sudo apt-get update && sudo apt-get install -y gcc-11 g++-11
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 200
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 200

# Remove .cache if you come from old isaac

cd
rm -rf .cache

# Install IsaacSim

mkdir -p Projects/isaac
cd Projects/isaac

### 1. Git clone Isaac-Sim

git clone --recursive --branch=develop https://github.com/isaac-sim/IsaacSim
cd IsaacSim
git lfs install
git lfs pull

### 2. Build IsaacSim

./build.sh
# BUILD (RELEASE) SUCCEEDED (Took 613.09 seconds)

### 3. Recognize IsaacSim for the system. (Be sure that you are in IsaacSim Folder)

export OMNI_KIT_ALLOW_ROOT=1
# Isaac Sim root directory (auto-detects architecture: x86_64 or aarch64)
export ISAACSIM_PATH="${PWD}/_build/linux-$(uname -m)/release"
# Isaac Sim python executable
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

### 5. Change pytorch version to be compatible with CUDA 13.0

cd _build/linux-$(uname -m)/release/
./python.sh -m pip install --force-reinstall torch torchvision torchaudio triton --index-url https://download.pytorch.org/whl/cu130
./python.sh -m pip install --force-reinstall "numpy<2"

### 6. Run IsaacSim

${ISAACSIM_PATH}/isaac-sim.sh

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# Install IsaacLab

1. Clone IsaacLab

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

2. Be sure that ISAACSIM PATH is correct

echo "ISAACSIM_PATH=$ISAACSIM_PATH"

3. Create a symbolink link

ln -sfn "${ISAACSIM_PATH}" "${PWD}/_isaac_sim"
ls -l "${PWD}/_isaac_sim/python.sh"

4. Install IsaacLab

./isaaclab.sh --install


5. Run Humanoides

export LD_PRELOAD="$LD_PRELOAD:/lib/$(uname -m)-linux-gnu/libgomp.so.1"
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-H1-v0