# Using The Simulator¶

Isaac Sim can be launched in two ways: Editor mode or Game mode. In Editor mode, the full capabilites of the UE4 editor are available at a small performance cost. This is the recommended mode when developing or modifying environments. Game mode is a more optimized mode where you are done with modifying the environments and just want to run the simulator.

## Launch Editor Mode¶

Follow these steps to launch Isaac Sim in the Editor mode.

1. Run Isaac Sim editor with one of the given maps (e.g. CarterWarehouse_P) with a command similar to the following:

./Engine/Binaries/Linux/UE4Editor IsaacSimProject CarterWarehouse_P -vulkan


This runs the the Isaac Sim editor with the Warehouse scene. For additional information about the different scenes available, see Environments.

2. In Edit, choose Editor Preferences then choose Performance, and make sure that Use Less CPU when in Background is disabled.

3. Move around in the editor by pressing the right mouse button and then using the W, A, S, and D keys.

4. In the editor, click Play and then press SHIFT-F1 to release your mouse cursor.

## Launch Game Mode¶

Run Isaac Sim with the -game option. The -windowed and -ResX and -ResY are optional.

./Engine/Binaries/Linux/UE4Editor IsaacSimProject CarterWarehouse_P -vulkan -game -windowed -ResX=1920 -ResY=1080