User Guide

Table of Contents

Installation

• 📦 Prerequisites
• ⚙️ Direct Installation
• 🐳 Docker
• 🚀 Advanced
  • cuRobo Installation
  • PyRoki Installation
  • MJX Installation
  • Blender Installation
  • PyRep Installation
  • GSNet Installation
• 💾 RoboVerse Dataset
• Download the full RoboVerse dataset

Getting Started

• Quick Start
  • Guide
  • 0. Static Scene
  • 1. Control Robot
  • 2. Add New Robot
  • 3. Parallel Envs
  • 4. Motion Planning
  • 5. Hybrid Sim
  • 6. Advanced Rendering
  • 7. Collect Demonstrations
  • 8. Replay Trajectories
  • 9. Config-based Task
  • 10. Adding Camera
  • 12. Domain Randomization
  • 13. Teleoperate
  • 14. Real Asset
  • 15. Gaussian Splatting-Based Scene Background Blending
  • 16. Loading Layout Scenes from EmbodiedGen in RoboVerse
  • 17. Rerun Visualization
• Advanced
  • Motion Planning
  • Reinforcement Learning
  • Imitation Learning
  • Viser Visualization
  • Interactive Object Layout Control

Concept

• RoboVerse Project Architecture
• States, Actions and Trajectories
• Configuration System
• Handlers
• Protocol Simulation
• Task System
• Custom Extra Observations
• Domain Randomization System

Features

• Support Matrix
• Cross Embodiment
• Cross Simulator

Development Guide

• Testing Infrastructure
• Docstrings
• Pre-commit Hooks
• Contributing New Robots
• Asset Conversion
• Tips
  • HuggingFace for Developers
  • Git Submodule for Developers
  • Git LFS

Troubleshooting

• Common Troubleshooting
• Docker Troubleshooting
• IsaacLab Troubleshooting
• Known Issues
  • Unaligned Control