User Guide

Table of Contents

Installation

• 📦 Prerequisites
• ⚙️ Direct Installation
• 🐳 Docker
• 🚀 Advanced
  • cuRobo Installation
  • MJX Installation
  • Blender Installation
  • PyRep Installation
  • GSNet Installation

Getting Started

• Quick Start
  • 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
• Advanced
  • Motion Planning
  • Reinforcement Learning
  • Imitation Learning

Tutorials

• Teleoperate
• Real2Sim
• Store Data Locally
• Tips for Users
  • Git Submodule for Users

Features

• Support Matrix
• Cross Embodiment
• Cross Simulator

Development Guide

• Pre-commit Hooks
• State
• Migrating New Tasks
  • From RoboSuite
  • From CALVIN
• Adding New Robots
• Supporting New Simulators
• Asset Conversion
• Docstrings
• Tips for Developers
  • HuggingFace for Developers
  • Git Submodule for Developers
  • Git LFS

Troubleshooting

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