# cuRobo Installation

We use cuRobo to retarget trajectories across different embodiments. To install cuRobo:

```shell
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).

Note that cuRobo is still under active development and maintenance. If you encounter any problem with retargeting, consider pulling the latest cuRobo or switch to branch `TODO`, where most functions are tested. tested.