Installation

This guide walks you through setting up InternDataEngine, including cloning the repository, preparing Isaac Sim, downloading assets, and installing dependencies. Follow the steps below to get your simulation environment ready for data generation.

Prerequisites

Before installing InternDataEngine, ensure the following requirements are met:

Dependency	Version	Description
NVIDIA Isaac Sim	4.1.0 (recommended) / 4.2.0 / 4.5.0	Simulation engine
Python	3.10+ (recommended 3.10 or 3.11)	Runtime
CUDA	11.8+	GPU-accelerated motion planning

Step 1: Clone the Repository

git clone https://github.com/InternRobotics/InternDataEngine.git
cd InternDataEngine

Step 2: Prepare Isaac Sim

InternDataEngine relies on NVIDIA Isaac Sim for physics simulation. Please install it according to the version requirements above. Version 4.1.0 is recommended.

Step 3: Download Assets

All assets and dependency packages are hosted on HuggingFace: InternDataAssets

Three components need to be downloaded:

InternDataAssets/
├── assets/          # Scene and task assets
├── curobo/          # CuRobo motion planning library
└── panda_drake/     # Drake kinematics library

3.1 Scene Assets

Required assets (needed for all tasks):

• background_textures, envmap_lib, floor_textures, table_textures — Domain Randomization materials
• table0, table_info.json — Table scene

The Randomization material directories contain many files. For quick testing, you can download just a few samples from each directory.

Robot models (choose as needed):

• lift2, franka, frankarobotiq, split_aloha_mid_360, G1_120s

Task assets (choose as needed):

• basic, art, long_horizon, pick_and_place

We provide a download script at scripts/download_assets.sh for selective downloading:

bash scripts/download_assets.sh [OPTIONS]

Option	Description
--min	Download only required scene assets (for quick testing)
--full	Download all scene assets including all robots and tasks (default)
--with-curobo	Also download the CuRobo package
--with-drake	Also download the panda_drake package
--local-dir DIR	Specify download directory (default: current directory)

# Minimum assets + CuRobo + panda_drake
bash scripts/download_assets.sh --min --with-curobo --with-drake

# Full download (~200GB)
bash scripts/download_assets.sh --full --with-curobo --with-drake

Hint

The full asset collection is large, so download selectively based on your needs. Because the background, floor, and table textures contain many images for domain randomization, if your download speed is slow or disk space is limited, you can download only a small subset (e.g., 10+ images per directory) for debugging.

3.2 CuRobo

If you already have CuRobo installed and don't need to download it via the script above, simply merge the contents of curobo/src/curobo/content from HuggingFace into your local YOUR_CUROBO_PATH/src/curobo/content (contains robot URDFs and CuRobo configuration files).

If CuRobo is not yet installed, you can also get the source from [NVlabs/curobo] (https://github.com/NVlabs/curobo).

Step 4: Create Symlinks

cd InternDataEngine/workflows/simbox
ln -s YOUR_PATH_TO_ASSETS assets
ln -s YOUR_PATH_TO_CUROBO curobo
ln -s YOUR_PATH_TO_PANDA_DRAKE panda_drake

Step 5: Install Python Dependencies

Option A: Using Isaac Sim's Built-in Python

cd InternDataEngine
YOUR_PATH_TO_ISAACSIM/python.sh -m pip install --upgrade pip
YOUR_PATH_TO_ISAACSIM/python.sh -m pip install -r requirements.txt

Option B: Using Conda

conda create -n banana python=3.10
conda activate banana
source YOUR_PATH_TO_ISAACSIM/setup_conda_env.sh
cd InternDataEngine
pip install --upgrade pip
pip install -r requirements.txt

Note: The only difference between the two options is the Python launch command — Option A uses YOUR_PATH_TO_ISAACSIM/python.sh, while Option B uses python. This documentation uses YOUR_PATH_TO_ISAACSIM/python.sh throughout for consistency.

Step 6: Install CuRobo

Refer to the CuRobo installation docs, specifically the Install for use in Isaac Sim section, then run:

cd InternDataEngine/workflows/simbox/curobo
YOUR_PATH_TO_ISAACSIM/python.sh -m pip install -e .[isaacsim] --no-build-isolation

Troubleshooting

Isaac Sim Not Found

Ensure the ISAAC_SIM_PATH environment variable is set correctly:

export ISAAC_SIM_PATH=/path/to/isaac-sim

CUDA Out of Memory

Reduce the batch size in the configuration, or use a GPU with more VRAM. CuRobo motion planning benefits from larger GPU memory.

Import Errors

Ensure all symlinks are set up correctly:

ls -la workflows/simbox/assets
ls -la workflows/simbox/curobo
ls -la workflows/simbox/panda_drake