This repo assumes IsaacLab is installed separately and you run scripts through the provided launch wrappers.

isaaclab -p scripts/view_robot.py

isaaclab_nostream -p scripts/print_robot_names.py --headless

HEADLESS=0 isaaclab -p scripts/view_robot.py

This repo uses .envrc to set:

• ISAACLAB_DIR (path to a pre-installed IsaacLab)
• Drake / GoC-MPC env vars
• optional livestream defaults (WebRTC)

If you don't use direnv, manually source your IsaacLab venv and export the same vars.