Install and Use Isaac Sim and Isaac Lab

Install gcc-11 and git-lfs

Confirm that GCC/G++ 11 is being used before building using the following commands:

sudo apt update && sudo apt 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
sudo apt install git-lfs
gcc --version
g++ --version

Clone the Isaac Sim repository into your workspace

Clone Isaac Sim from the NVIDIA GitHub repository and set up Git LFS to pull large files.

Note: For Isaac Sim 6.0.0 Early Developer Release, use:

Bash

CopiedCopy

git clone --depth=1 --recursive --branch=develop https://github.com/isaac-sim/IsaacSim

git clone --depth=1 --recursive https://github.com/isaac-sim/IsaacSim
cd IsaacSim
git lfs install
git lfs pull

Build Isaac Sim

Build Isaac Sim and accept the license agreement.

./build.sh

You get this following message when build is successful: BUILD (RELEASE) SUCCEEDED (Took 674.39 seconds)

Recognize Isaac Sim for the system.

Be sure that you are inside Isaac Sim directory when running the following commands.

export ISAACSIM_PATH="${PWD}/_build/linux-aarch64/release"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

Run Isaac Sim

Launch Isaac Sim using the provided Python executable.

export LD_PRELOAD="$LD_PRELOAD:/lib/aarch64-linux-gnu/libgomp.so.1"
${ISAACSIM_PATH}/isaac-sim.sh