Basic Usage

Basic Usage#

Attention Mac users!

For these scripts, Mac users need to prepend the “python” command with “mj”: mjpython ...

Gym Interface#

The following script shows how to create a gym environment and to run random rollouts:

import gymnasium as gym
import robocasa
from robocasa.utils.env_utils import run_random_rollouts

env = gym.make(
    "robocasa/PickPlaceCounterToCabinet",
    split="pretrain", # use 'pretrain' or 'target' kitchen scenes and objects
    seed=0 # seed environment as needed. set seed=None to run unseeded
)

# run rollouts with random actions and save video
run_random_rollouts(
    env, num_rollouts=3, num_steps=100, video_path="/tmp/test.mp4"
)

Explore kitchen layouts and styles#

Explore kitchen layouts (G-shaped, U-shaped, etc) and kitchen styles (mediterranean, industrial, etc):

python -m robocasa.demos.demo_kitchen_scenes

Play back sample demonstrations of tasks#

Select a task and the script will render a human collected demonstration from our datasets. Rendering can either be on-screen or off-screen as a video:

python -m robocasa.demos.demo_tasks

Off-screen rendering

You can render videos of the demos off-screen by adding the --render_offscreen flag. Mac users will need to run the command as python instead of mjpython.

Explore library of 3200+ objects#

View and interact with both human-designed and AI-generated objects. Can also specify the path to a custom mjcf file. If no mjcf path specified, the script will show a random object:

python -m robocasa.demos.demo_objects

Note: by default this demo shows objaverse objects. To view AI-generated objects, add the flag --obj_types aigen.

Teleoperate the robot#

Control the robot directly, either through a keyboard controller or spacemouse. This script renders the robot semi-translucent in order to minimize occlusions and enable better visibility. Can specify environment, layout, and style via arguments to the script. Collected demonstrations will not be saved

python -m robocasa.demos.demo_teleop

Note: If using spacemouse: you may need to modify the product ID to your appropriate model, setting SPACEMOUSE_PRODUCT_ID in robocasa/macros_private.py.

Other useful sections#

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