Documentation for RoboSynChallenge# Getting Started Overview Installation Code Structures Tutorials Configuration Tutorial 🔧 Gym Configuration 🔧 Action Configuration 1. Scope Definition 2. Graph Node Definition 3. Directed Edge for Motion Trajectory 4. Synchronization Timing Rules 5. Misc Auxiliary Configurations Domain Randomization Collect Data 🔧 Data Collection Hardware Collect simulation data with depth information Download Data Real Data Sim Data Training Task Trajectory Implementation 📃 Core Files Full Data Flow Pipeline Core Dependency Relationship 🏦 Functions in action_bank.py 2.1 Core Decorator Principles 2.2 Example: generate_left_arm_aim_qpos 2.3 Gripper Execution 2.4 Core Trajectory Planning 2.5 attach_rigid_objects_now 🎯 Principles of action_config.json 3.1 scope 3.2 node 3.3 edge 3.4 sync 3.5 misc 🧠 Standard Step-by-Step Guide 🔧 Debug Reference Summary Policy Deploy Your Policy ACT DP SmolVLA PI0 PI0.5 Motus