Installation Verification

Installation Verification#

After installing UrbanVerse, caching UrbanVerse-100K, and configuring your scene directories, you should verify that the installation works end-to-end. This includes:

  • confirming that UrbanVerse-Gen can load assets and build scenes

  • checking that Isaac Sim / Isaac Lab integrates correctly

  • validating that scenes and robots can be spawned without errors

The following steps walk you through a minimal and a full verification procedure.

Verifying Scene Generation (Minimal Test)#

First, generate a simple test scene from a small layout file included in the UrbanVerse repository:

python -m urbanverse.gen.spawn \
   --layout tests/sample_layout.json \
   --asset-root $URBANVERSE_ASSET_ROOT \
   --output ./test_scene.usd

Where:

  • --layout is a minimal layout containing a few objects

  • --asset-root points to your UrbanVerse-100K directory

  • --output defines where the generated USD should be saved

If this command completes without errors, you can load the resulting USD scene in Isaac Sim:

${ISAACSIM_PATH}/isaac-sim.sh ./test_scene.usd

A correct installation will display several objects in the expected arrangement, with proper textures, materials, and metric scaling.

Verifying Multi-Scene Loading (UrbanVerse-160)#

Next, verify that UrbanVerse can load one of the cached real-to-sim environments. We recommend using a fixed example scene included in UrbanVerse-160:

  • Scene ID: CapeTown_0001

  • Robot: coco_wheeled (default wheeled delivery robot)

Load the USD environment directly in Isaac Sim:

${ISAACSIM_PATH}/isaac-sim.sh \
   $URBANVERSE_SCENE_ROOT/scenes_usd/CapeTown_0001/scene.usd

This should open a fully reconstructed real-world scene from Cape Town, including:

  • calibrated ground plane

  • 3D assets from UrbanVerse-100K

  • metric-scale object placements

  • HDRI sky lighting and materials

Verifying Robot Initialization#

To verify that robots load correctly in UrbanVerse, run the coco_wheeled robot inside the same scene:

python -m urbanverse.control.run \
   --scene $URBANVERSE_SCENE_ROOT/scenes_usd/CapeTown_0001/scene.usd \
   --robot coco_wheeled

A successful configuration will:

  • spawn the COCO wheeled delivery robot at the scene’s default spawn location

  • initialize its sensors and actuators

  • render the scene with all assets and materials resolved

  • begin executing a simple idle policy or default navigation behavior (depending on your config)

If everything loads without warnings about unresolved prims, missing materials, or module errors, your installation is verified.

What a Successful Verification Looks Like#

A correctly functioning installation should display a scene similar to the example below.

Example UrbanVerse scene with static and dynamic objects.

Troubleshooting#

If you encounter issues:

  • Confirm environment variables are set correctly:

    echo $URBANVERSE_ASSET_ROOT
echo $URBANVERSE_SCENE_ROOT

  • Make sure Isaac Sim runs independently without errors

  • Ensure UrbanVerse-100K and UrbanVerse-160 downloads are complete

  • Fix module errors by re-running:

    source _isaac_sim/setup_conda_env.sh

  • Check GPU driver, CUDA, and system requirements listed in the installation guide

For unresolved issues, consult the troubleshooting section of the UrbanVerse documentation or open a discussion with the community.