⚙️ Direct Installation#

First, clone the RoboVerse project:

git clone [email protected]:RoboVerseOrg/RoboVerse.git && cd RoboVerse

RoboVerse uses uv to manage dependencies. To install it, please refer to the official guide, or run:

pip install uv

Installation Commands#

MuJoCo, SAPIEN2, SAPIEN3, Genesis, and PyBullet can be installed directly via uv pip install -e ".[<simulator>]". However, IsaacLab and IsaacGym must be installed manually.

Simulator

Installation Command

Supported Python Versions

Recommended Python Version

MuJoCo

uv pip install -e ".[mujoco]"

3.9-3.13

3.10-3.11

SAPIEN2

uv pip install -e ".[sapien2]"

3.7-3.11

3.10

SAPIEN3

uv pip install -e ".[sapien3]"

3.8-3.12

3.10

Genesis

uv pip install -e ".[genesis]"

3.10-3.12

3.10-3.11

PyBullet

uv pip install -e ".[pybullet]"

3.6-3.11

3.10

IsaacSim v4.5.0

See below

3.10

3.10

IsaacSim v5.0.0

See below

3.11

3.11

IsaacGym

See below

3.6-3.8

3.8

Note

Recommended Python versions are guaranteed to work. For other Python versions, the RoboVerse team hasn’t fully tested MetaSim. Please let us know if you encounter any issues.

Please also check the prerequisites for supported platforms.

Install Isaacsim v4.5.0 (IsaacLab v2.1.1)#

uv pip install -e ".[isaaclab211]"
cd third_party
git clone --depth 1 --branch v2.1.1 [email protected]:isaac-sim/IsaacLab.git IsaacLab211 && cd IsaacLab211
./isaaclab.sh -i none

Note

This installation method is only guaranteed to work on Ubuntu 22.04. To install on other platforms, please refer to the official guide.

Install IsaacGym#

cd third_party
wget https://developer.nvidia.com/isaac-gym-preview-4 \
    && tar -xf isaac-gym-preview-4 \
    && rm isaac-gym-preview-4
find isaacgym/python -type f -name "*.py" -exec sed -i 's/np\.float/np.float32/g' {} +
cd ..
uv pip install -e ".[isaacgym]" 'isaacgym @ file:${PROJECT_ROOT}/third_party/isaacgym/python'

Note

This installation method is only guaranteed to work on Ubuntu 22.04. To install on other platforms, you can refer to the clone of the official guide.

Tip

If you encounter the error FileNotFoundError: [Errno 2] No such file or directory: '.../lib/python3.8/site-packages/isaacgym/_bindings/src/gymtorch/gymtorch.cpp', you can try to run the following command:

mkdir -p $CONDA_PREFIX/lib/python3.8/site-packages/isaacgym/_bindings/src
cp -r third_party/isaacgym/python/isaacgym/_bindings/src/gymtorch $CONDA_PREFIX/lib/python3.8/site-packages/isaacgym/_bindings/src/gymtorch

If you encounter the error ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or directory, you can try to run the following command:

export LD_LIBRARY_PATH=$CONDA_HOME/envs/metasim_isaacgym/lib:$LD_LIBRARY_PATH

where $CONDA_HOME is the path to your conda installation. It is typically ~/anaconda3, ~/miniconda3 or ~/miniforge3. You can also add it to your ~/.bashrc to make it permanent.

Install Multiple Simulators#

Feel free to combine the above commands to install multiple simulators in one environment. For example, to install MuJoCo and IsaacSim at the same time, you can run:

uv pip install -e ".[mujoco,isaaclab221]"
cd third_party
git clone --depth 1 --branch v2.2.1 [email protected]:isaac-sim/IsaacLab.git IsaacLab221 && cd IsaacLab221
./isaaclab.sh -i none

Note

Every time you install multiple simulators, you need to use one single command to deal with dependencies correctly. For example, to install MuJoCo, SAPIEN3, and Genesis at the same time, you should run:

uv pip install -e ".[mujoco,sapien3,genesis]"

instead of running them one by one:

uv pip install -e ".[mujoco]"
uv pip install -e ".[sapien3]"
uv pip install -e ".[genesis]"