Robot Configurations

Robot Configurations#

UrbanVerse provides a unified interface for working with multiple robot embodiments. Robots differ in mobility type (wheeled, holonomic, quadruped, humanoid), action interface, and physical configuration. The robot is selected via:

cfg = EnvCfg(robot_type="coco_wheeled")

UrbanVerse automatically loads the correct configuration, action space, and environment modifier based on the provided name.

Supported Robots#

Wheeled Robots#

COCO Wheeled Delivery Robot:

  • Identifier: coco_wheeled

  • Config module: urbanverse.robots.coco.COCOCfg

  • Action space: COCOVelocityActionCfg (continuous linear & angular velocities)

  • Environment modifier: COCONavModifyEnv

  • Default spawn height: z ≈ 0.40

NVIDIA Carter (Holonomic Omnidirectional):

  • Identifier: nvidia_carter

  • Config module: urbanverse.robots.carter.CarterCfg

  • Action space: CarterVelocityActionCfg (vx, vy, yaw-rate)

  • Environment modifier: CarterNavModifyEnv

  • Default spawn height: z ≈ 0.45

TurtleBot3:

  • Identifier: turtlebot3

  • Config module: urbanverse.robots.turtlebot3.TurtlebotCfg

  • Action space: TurtlebotActionCfg

  • Environment modifier: TurtlebotModifyEnv

  • Default spawn height: z ≈ 0.18

Quadruped Robots#

Unitree Go2:

  • Identifier: unitree_go2

  • Config module: urbanverse.robots.unitree_go2.Go2Cfg

  • Action space: Go2NavActionCfg (joint or velocity-based)

  • Environment modifier: Go2NavModifyEnv

  • Default spawn height: z ≈ 0.30

ANYmal (C / D):

  • Identifier: anymal

  • Config module: urbanverse.robots.anymal.ANYmalCfg

  • Action space: ANYmalActionCfg

  • Environment modifier: ANYmalNavModifyEnv

  • Default spawn height: z ≈ 0.32

Humanoid Robots#

Booster Robotics T1 (Humanoid):

  • Identifier: booster_t1

  • Config module: urbanverse.robots.booster_t1.T1Cfg

  • Action space: T1HumanoidActionCfg (joint-angle or torque-based, depending on mode)

  • Environment modifier: T1NavModifyEnv

  • Default spawn height: z ≈ 1.0

Unitree G1 (Humanoid):

  • Identifier: unitree_g1

  • Config module: urbanverse.robots.unitree_g1.G1Cfg

  • Action space: G1NavActionCfg

  • Environment modifier: G1NavModifyEnv

  • Default spawn height: z ≈ 0.74

Dynamic Robot Loading Logic#

UrbanVerse loads robot components automatically:

robot_type = cfg.robot_type.lower()

if robot_type == "coco_wheeled":
    from urbanverse.robots.coco import COCOCfg, COCOVelocityActionCfg, COCONavModifyEnv
    robot_cfg = COCOCfg
    action_cfg = COCOVelocityActionCfg
    modify_env_fn = COCONavModifyEnv

elif robot_type == "nvidia_carter":
    from urbanverse.robots.carter import CarterCfg, CarterVelocityActionCfg, CarterNavModifyEnv
    robot_cfg = CarterCfg
    action_cfg = CarterVelocityActionCfg
    modify_env_fn = CarterNavModifyEnv

elif robot_type == "turtlebot3":
    from urbanverse.robots.turtlebot3 import TurtlebotCfg, TurtlebotActionCfg, TurtlebotModifyEnv
    robot_cfg = TurtlebotCfg
    action_cfg = TurtlebotActionCfg
    modify_env_fn = TurtlebotModifyEnv

elif robot_type == "unitree_go2":
    from urbanverse.robots.unitree_go2 import Go2Cfg, Go2NavActionCfg, Go2NavModifyEnv
    robot_cfg = Go2Cfg
    action_cfg = Go2NavActionCfg
    modify_env_fn = Go2NavModifyEnv

elif robot_type == "anymal":
    from urbanverse.robots.anymal import ANYmalCfg, ANYmalActionCfg, ANYmalNavModifyEnv
    robot_cfg = ANYmalCfg
    action_cfg = ANYmalActionCfg
    modify_env_fn = ANYmalNavModifyEnv

elif robot_type == "booster_t1":
    from urbanverse.robots.booster_t1 import T1Cfg, T1HumanoidActionCfg, T1NavModifyEnv
    robot_cfg = T1Cfg
    action_cfg = T1HumanoidActionCfg
    modify_env_fn = T1NavModifyEnv

elif robot_type == "unitree_g1":
    from urbanverse.robots.unitree_g1 import G1Cfg, G1NavActionCfg, G1NavModifyEnv
    robot_cfg = G1Cfg
    action_cfg = G1NavActionCfg
    modify_env_fn = G1NavModifyEnv

Robot Spawn Initialization#

UrbanVerse ensures each robot spawns safely on the navigable ground plane extracted from the scene.

xy, yaw = sample_valid_robot_pose(scene)
robot_cfg.init_state.pos = [xy.x, xy.y, default_height]
robot_cfg.init_state.yaw = yaw

Guarantees:

  • safe sidewalk/road placement

  • no collision at spawn

  • consistent behavior across UrbanVerse-160 / CraftBench / user-generated scenes

Summary#

  • UrbanVerse now supports wheeled, holonomic, quadruped, humanoid robots.

  • Robot selection uses a single field: robot_type="unitree_g1".

  • System automatically loads config, action space, and env modifiers.

  • Fully compatible with UrbanVerse-160, CraftBench, and UrbanVerse-Gen scenes.