diff --git a/.gitmodules b/.gitmodules
index 7bd8ee1c..5d813d18 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,6 @@
-[submodule "third_party/isaacgym"]
-	path = third_party/isaacgym
-	url = ../../kscalelabs/isaacgym.git
 [submodule "third_party/humanoid-gym"]
 	path = third_party/humanoid-gym
 	url = ../../kscalelabs/humanoid-gym.git
 [submodule "third_party/IsaacGymEnvs"]
 	path = third_party/IsaacGymEnvs
-	url = git@github.com:kscalelabs/IsaacGymEnvs.git
+	url = ../../kscalelabs/IsaacGymEnvs.git
diff --git a/getting_started_colab_sim.ipynb b/getting_started_colab_sim.ipynb
new file mode 100644
index 00000000..15104636
--- /dev/null
+++ b/getting_started_colab_sim.ipynb
@@ -0,0 +1,178 @@
+{
+  "nbformat": 4,
+  "nbformat_minor": 0,
+  "metadata": {
+    "colab": {
+      "provenance": [],
+      "gpuType": "L4"
+    },
+    "kernelspec": {
+      "name": "python3",
+      "display_name": "Python 3"
+    },
+    "language_info": {
+      "name": "python"
+    },
+    "accelerator": "GPU"
+  },
+  "cells": [
+    {
+      "cell_type": "markdown",
+      "source": [
+        "This Notebook works on L4 and A100 GPUs"
+      ],
+      "metadata": {
+        "id": "sRtNitKlw1zw"
+      }
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "iYqTHUm8hv1F"
+      },
+      "outputs": [],
+      "source": [
+        "from google.colab import drive\n",
+        "drive.mount('/content/drive', force_remount=True)"
+      ]
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "%cd /content/drive/MyDrive\n",
+        "!git clone https://github.com/kscalelabs/sim.git"
+      ],
+      "metadata": {
+        "id": "16UZ4d3Nm1PY"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "cd /content/drive/MyDrive/sim"
+      ],
+      "metadata": {
+        "id": "pQ7Ev2668RqY"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "!apt-get update -y\n",
+        "!apt-get install python3.8 python3.8-distutils\n",
+        "!update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 1\n",
+        "!update-alternatives --config python3\n",
+        "!apt-get install python3-pip\n",
+        "!python3 -m pip install --upgrade pip --user"
+      ],
+      "metadata": {
+        "id": "dmwa4ir7OfMU"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "!sudo apt-get install libpython3.8-dev\n",
+        "!pip install numpy"
+      ],
+      "metadata": {
+        "id": "TrLr6NG20IN4"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "!make install-dev"
+      ],
+      "metadata": {
+        "id": "HGAYjhc33_Ad"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "# Manually download IsaacGym_Preview_4_Package.tar.gz from https://developer.nvidia.com/isaac-gym\n",
+        "# And place it in your sim folder in google drive.\n",
+        "# OR use this slower upload option below\n",
+        "from google.colab import files\n",
+        "uploaded = files.upload()"
+      ],
+      "metadata": {
+        "id": "xl-_w0pIwgZH"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "!tar -xvf IsaacGym_Preview_4_Package.tar.gz\n",
+        "%env ISAACGYM_PATH=`pwd`/isaacgym\n",
+        "!export ISAACGYM_PATH=$(pwd)/isaacgym\n",
+        "!make install-third-party-external"
+      ],
+      "metadata": {
+        "id": "H52XAPEPOZ0k"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "!wget https://media.kscale.dev/stompy.tar.gz && tar -xzvf stompy.tar.gz\n",
+        "!python sim/scripts/create_fixed_torso.py"
+      ],
+      "metadata": {
+        "id": "fVReUppMRDEm"
+      },
+      "execution_count": 10,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "%env MODEL_DIR=stompy"
+      ],
+      "metadata": {
+        "id": "j_7WABU14nHI"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "!python sim/humanoid_gym/train.py --task=legs_ppo --num_envs=4096 --headless"
+      ],
+      "metadata": {
+        "id": "xR7Wpx8aSJQX"
+      },
+      "execution_count": null,
+      "outputs": []
+    },
+    {
+      "cell_type": "code",
+      "source": [
+        "# Untested\n",
+        "!python sim/humanoid_gym/play.py --task legs_ppo --sim_device cpu"
+      ],
+      "metadata": {
+        "id": "Gzgj4q5vV0TY"
+      },
+      "execution_count": null,
+      "outputs": []
+    }
+  ]
+}
\ No newline at end of file