Isaac Install Failure

I am trying to install Isaac on a new machine and am getting the following error. It looks like capnp used is legacy? Is there a fix to install isaac?

x86_64-linux-gnu-gcc -pthread -Wno-unused-result -Wsign-compare -DNDEBUG -g -fwrapv -O2 -Wall -g -fdebug-prefix-map=/build/python3.7-pX47U3/python3.7-3.7.12=. -fstack-protector-strong -Wformat -Werror=format-security -fPIC -I. -I/usr/include/python3.7m -I/tmp/pip-install-mzgxkiti/pycapnp_e956c10bc6084eb494eca04947cdfe22/build/include -c capnp/lib/capnp.cpp -o build/temp.linux-x86_64-cpython-37/capnp/lib/capnp.o --std=c++11
capnp/lib/capnp.cpp:38:10: fatal error: Python.h: No such file or directory
#include “Python.h”
compilation terminated.
error: command ‘/usr/bin/x86_64-linux-gnu-gcc’ failed with exit code 1
error: subprocess-exited-with-error

× Running install for pycapnp did not run successfully.
│ exit code: 1
╰─> See above for output.

note: This error originates from a subprocess, and is likely not a problem with pip.
full command: /usr/bin/python3 -u -c ’

This is – a caller that pip uses to run

- It imports setuptools before invoking, to enable projects that directly

import from distutils.core to work with newer packaging standards.

- It provides a clear error message when setuptools is not installed.

- It sets sys.argv[0] to the underlying, when invoking so

setuptools doesn’“'”'t think the script is -c. This avoids the following warning:

manifest_maker: standard file ‘"’“‘-c’”‘"’ not found".

- It generates a shim, for handling setup.cfg-only projects.

import os, sys, tokenize

import setuptools
except ImportError as error:
"ERROR: Can not execute since setuptools is not available in "
“the build environment.”,

file = %r
sys.argv[0] = file

if os.path.exists(file):
filename = file
with as f:
setup_py_code =
filename = “”
setup_py_code = “from setuptools import setup; setup()”

exec(compile(setup_py_code, filename, “exec”))
‘"’“‘’”‘"’‘"’“’ % ('”‘"’/tmp/pip-install-mzgxkiti/pycapnp_e956c10bc6084eb494eca04947cdfe22/’“'”‘,), “”, “exec”))’ install --record /tmp/pip-record-y03ftwev/install-record.txt --single-version-externally-managed --user --prefix= --compile --install-headers /home/xxxxx/.local/include/python3.7m/pycapnp
cwd: /tmp/pip-install-mzgxkiti/pycapnp_e956c10bc6084eb494eca04947cdfe22/
Running install for pycapnp … error
error: legacy-install-failure

× Encountered error while trying to install package.
╰─> pycapnp

Could you describe the system that you are installing Isaac SDK on? Which commands did you run? From the error log, it looks like the Python installation is missing. Did you happen to run the script?