Installation

Note

We recommend system requirements with at least 32GB RAM and 16GB VRAM for UrbanVerse. For workflows with rendering enabled, additional VRAM may be required. For the full list of system requirements for Isaac Sim, please refer to the Isaac Sim system requirements.

UrbanVerse runs on top of the NVIDIA Isaac Sim simulation engine. This section covers the complete installation process:

• Installing Isaac Sim: Setting up Isaac Sim from pre-built binaries and configuring UrbanVerse source code

• Caching UrbanVerse-100K Assets: Downloading the 102,530 3D object assets, 288 ground materials, and 306 HDRI sky maps from Hugging Face

• Caching UrbanVerse Scenes: Downloading UrbanVerse-160 (160 real-to-sim environments) and CraftBench (10 artist-crafted test scenes) from Hugging Face

• Verifying Installation: Testing that UrbanVerse-Gen, Isaac Sim integration, and scene loading work correctly

• Installation via Pre-Built Binaries
  • Installing Isaac Sim
  • Installing UrbanVerse
• UrbanVerse-100K Asset Caching
  • Dataset Structure
  • Asset License Distribution
  • Downloading UrbanVerse-100K from Hugging Face
  • Verifying Your Local Cache
  • Linking UrbanVerse-100K with UrbanVerse
  • Using Asset Caching in UrbanVerse-Gen
  • Troubleshooting
• UrbanVerse Scene Caching
  • UrbanVerse-160 (Real-to-Sim Scenes)
  • CraftBench (Artist-Designed Scenes)
  • Using Cached Scenes in UrbanVerse
• Installation Verification
  • Verifying Scene Generation (Minimal Test)
  • Verifying Multi-Scene Loading (UrbanVerse-160)
  • Verifying Robot Initialization
  • What a Successful Verification Looks Like
  • Troubleshooting