cuRobo Installation#

We use cuRobo to retarget trajectories across different embodiments.

Install with Isaac Sim#

Please refer to the official guide.

pip install tomli wheel ninja
pip install plotly # Optional, only if you need visualization in retargetting

cd third_party
git clone https://github.com/RoboVerseOrg/curobo
cd curobo
python -m pip install -e ".[isaacsim]" --no-build-isolation # This will take several minutes

If the last line above raises error about CUDA, consider installing the CUDA Toolkit with the version that matches the one with which your PyTorch is compiled (for IsaacLab, CUDA Toolkit 12.x will do).

Install without Isaac Sim#

Please refer to the official guide.

sudo apt install git-lfs
cd third_party
git clone https://github.com/RoboVerseOrg/curobo
cd curobo
pip install -e . --no-build-isolation

Troubleshooting#

  • If you encounter cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++ when building cuRobo, try adding the following lines at the top of third_party/curobo/setup.py:

    import distutils.sysconfig
cfg_vars = distutils.sysconfig.get_config_vars()
for key, value in cfg_vars.items():
if type(value) == str:
    cfg_vars[key] = value.replace("-Wstrict-prototypes", "")

    For more details, please refer to this answer.

  • If you encounter error -- unsupported GNU version! gcc versions later than 11 are not supported! The nvcc flag '-allow-unsupported-compiler' can be used to override this version check; however, using an unsupported host compiler may cause compilation failure or incorrect run time execution. Use at your own risk. when building cuRobo, try installing gcc-10 and g++-10 on your machine:

    sudo apt install gcc-10 g++-10

    and switch to gcc-10 and g++-10 as the default compiler:

    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-10 10
sudo update-alternatives --config gcc
sudo update-alternatives --config g++

    Note that gcc and g++ must be both installed and switched to the same version.