Development Tips

This section contains helpful tips and best practices for working with RoboVerse and its dependencies.

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Topics

Topic	Description
Hugging Face	Managing assets and models via Hugging Face Hub
Git Submodules	Working with external dependencies as submodules
Git LFS	Managing large files with Git Large File Storage

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Quick Tips

Environment Management

# Create a dedicated conda environment
conda create -n roboverse python=3.10
conda activate roboverse

# Install in development mode
pip install -e ".[dev]"

Debugging Simulations

# Enable verbose logging
import logging
logging.basicConfig(level=logging.DEBUG)

# Run in non-headless mode to visualize
scenario = ScenarioCfg(
    robots=["franka"],
    simulator="mujoco",
    headless=False,  # Show GUI for debugging
)

Performance Profiling

import torch

# Enable CUDA profiling
with torch.profiler.profile(
    activities=[
        torch.profiler.ProfilerActivity.CPU,
        torch.profiler.ProfilerActivity.CUDA,
    ]
) as prof:
    for _ in range(100):
        handler.simulate()
        
print(prof.key_averages().table(sort_by="cuda_time_total"))

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