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Environment Setup

This tutorial details how to configure the DISCOVERSE simulation environment, including various settings, performance optimization, and troubleshooting.

đŸŽ¯ Learning Objectives​

  • Understand the DISCOVERSE environment configuration system
  • Master different rendering modes and settings
  • Learn performance optimization tips
  • Configure multi-GPU and parallel simulation

🔧 Basic Environment Configuration​

Create a Basic Environment​

import discoverse as dv

# The simplest environment creation
env = dv.make_env("airbot_play")

# Environment creation with parameters
env = dv.make_env(
    robot_name="airbot_play",           # Robot type
    scene_name="table_top",            # Scene name
    obs_mode="rgb",                    # Observation mode
    control_mode="pd_joint_pos",       # Control mode
    render_mode="human"                # Render mode
)

Environment Configuration Parameters Explained​

ParameterTypeDefaultDescription
robot_namestr"airbot_play"Robot model name
scene_namestr"table_top"Simulation scene name
obs_modestr"state"Observation mode: state, rgb, rgbd, pointcloud
control_modestr"pd_joint_pos"Control mode
render_modestr"human"Render mode: human, rgb_array, none