---
title: "Install and Use Isaac Sim and Isaac Lab — Run Isaac Lab"
canonical: "https://build.nvidia.com/spark/isaac/isaac-lab.md"
---

# Step 1. Install Isaac Sim
If you haven't already done so, install [Isaac Sim](build.nvidia.com/spark/isaac/isaac-sim) first.

# Step 2. Clone the Isaac Lab repository into your workspace

Clone Isaac Lab from the NVIDIA GitHub repository.

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

# Step 3. Create a symbolic link to the Isaac Sim installation

Be sure that you have already installed Isaac Sim from [Isaac Sim](build.nvidia.com/spark/isaac/isaac-sim) before running the following command.

```bash
echo "ISAACSIM_PATH=$ISAACSIM_PATH"
```
Create a symbolic link to the Isaac Sim installation directory.
```bash
ln -sfn "${ISAACSIM_PATH}" "${PWD}/_isaac_sim"
ls -l "${PWD}/_isaac_sim/python.sh"
```

# Step 4. Install Isaac Lab

```bash
./isaaclab.sh --install
```

# Step 5. Run Isaac Lab and Validate Humanoid Reinforcement Learning Training

Launch Isaac Lab using the provided Python executable. You can run the training in one of the following modes:

**Option 1: Headless Mode (Recommended for Faster Training)**

Runs without visualization and outputs logs directly to the terminal.

```bash
export LD_PRELOAD="$LD_PRELOAD:/lib/aarch64-linux-gnu/libgomp.so.1"
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-H1-v0 --headless
```

**Option 2: Visualization Enabled**

Runs with real-time visualization in Isaac Sim, allowing you to monitor the training process interactively.

```bash
export LD_PRELOAD="$LD_PRELOAD:/lib/aarch64-linux-gnu/libgomp.so.1"
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-H1-v0
```