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Documentation Index

Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt

Use this file to discover all available pages before exploring further.

An environment is the 3D scene where your digital twins come together. Drop in a UR7e, a table, four walls, and a wrist camera — and you have a programmable replica of your lab. Most environments mirror a real place (a cell, a warehouse, a workshop), but they don’t have to: a purely virtual scene works just as well for prototyping, training, and demos. 
from cyberwave import Cyberwave

cw = Cyberwave()
env = cw.environments.create(name="Lab Cell", description="UR7e + table + camera")

arm    = cw.twin("universal_robots/UR7", environment_id=env.uuid)
camera = cw.twin("camera",               environment_id=env.uuid)
The same environment is what you see in the Environment Editor, what you simulate in MuJoCo, and what your real edge devices stream into when you flip to Live mode.

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Why an environment?

Spatial context for every twin

Twins know where they are relative to each other, the floor, walls, and props — so navigation, manipulation, and perception just work.

One scene, two realities

The same layout powers simulation and live hardware. No duplicate setup, no drift.

A unit of collaboration

Share, comment, and review an environment like a doc — without giving away write access.

Identified by a slug

Every environment gets a unique slug like acme/envs/production-floor — see the slug system.

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What you can do in an environment

CapabilityWhat it doesLearn more
Add twins and organize themDrop in robots, sensors, and objects from the catalog, then drag, snap, reparent, and reorder them.Environment Editor
Add primitivesOne-click cameras, lidars, and common props by short alias (camera, lidar).Adding primitives
Start from a templateClone a pre-built scene (assets, twins, controller policies, tags) with one click.Environment templates
Save and copyFile → Make a copy duplicates the scene and all of its twins; lineage is stored in metadata.Clone an environment
Add waypointsAuthor named points in 3D for mission-style workflows — “go to charger”, “inspect rack B”.Waypoint schema
Add areasDraw polygon zones that gate locomotion and perception — keep-out zones, lanes, spatial filters for cameras.Spatial filter node
Add notes for teammatesAnnotate the scene so the next operator knows why the camera is tilted 12°.Environment Editor
Edit with an agentLaunch the Editor Agent from Edit → Editor Agent and let it call Cyberwave MCP tools on your behalf.Start the agent from Edit

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Simulate it or wire it to real hardware

An environment is the same artifact in both worlds — you just switch modes.

Simulate

Run Playground physics in the browser for quick checks, or export to MuJoCo in one click for full contact-rich physics, RL training, and policy evaluation.

Go Live

Flip to Live mode and the scene becomes a window into your real cell — camera streams, joint states, edge-device health, and teleoperation all in place.
Switch programmatically from the SDK: 
cw.affect("simulation")   # commands run against the virtual environment
cw.affect("live")         # same scene, real hardware

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Replay the whole environment

Recordings aren’t just per-twin clips — an environment replays as a single timeline. Scrub the playhead and every camera, every robot pose, every point cloud rewinds together. Imagine watching the 2D map of your warehouse next to the wrist-camera video, both perfectly aligned.

Recording replay

Signed-URL playback for MP4 video, parquet telemetry, and FlatBuffer point clouds — no inlining, range-requested on demand.

Workflow executions

Browse every workflow run bound to this environment, with trigger data, errors, and per-node executions.

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Sharing and access control

Environments are first-class shareable objects — same model as the rest of Cyberwave.
  • Workspace roles (Viewer, Editor, Admin) cascade automatically — most teams configure this once.
  • Per-environment overrides let you grant or restrict access for a single scene.
  • Read-only and comment-only link shares are perfect for stakeholder demos and async review without handing out edit rights.
See the Access Control reference for the full role / visibility matrix.

Environment Editor reference

Every panel, shortcut, and quick action in the 3D editor.

Live teleoperation

Drive the real robots that live in your environment from anywhere.

Hello Robot

Build your first environment with a twin and a controller in 5 minutes.