Tips

Run with limited CPU cores

You can limit the CPU cores used by Isaac Sim by setting taskset. For example, if you want to use 0,1,2,3 cores, you can run:

taskset -c 0,1,2,3 python XXXX # scripts

Hydra system

You can overwrite the *EnvCfg from command line. For example, if you want to set PickCubeEnvCfg.decimation to 3, you can run:

python src/scripts/demo.py --enable_cameras --task PickCube env.scene.num_envs=4 env.decimation=3

For more details, please refer to the official guide.

Sync data with Google Drive

We recommend using rclone to sync the data with google drive.

Setup rclone

Create a rclone config under the official guide, during which you need to create your own client id and token by following this.

The final rclone config should look like this:

[roboverse]
type = drive
client_id = <your_client_id>
client_secret = <your_client_secret>
scope = drive
token = <your_token>
team_drive =
root_folder_id = 1ORMP3__KIlXettN8eUCF3YQNybZQxzkw

[roboverse_isaaclab]
type = drive
client_id = <your_client_id>
client_secret = <your_client_secret>
scope = drive
token = <your_token>
team_drive =
root_folder_id = 1nF-5SU4nC6S_vgC_NL7E7Rt63Zl9sYqW

Download data

rclone copy -P roboverse: data --exclude='demo/**'
rclone copy -P roboverse_isaaclab: data_isaaclab

You may want to speed up by setting --multi-thread-streams=16 (default is 4).

Upload data (Developer only)

For example, if you are a developer who is migrating the rlbench task, you can upload the assets and source demos to google drive by running:

rclone copy -P data/assets/rlbench roboverse_isaaclab:assets/rlbench --exclude='.thumbs/**'
rclone copy -P data/source_data/rlbench roboverse:data/source_data --include='trajectory-unified.pkl'

You should replace -P with -n (means dry run) to check before uploading.