Quick Start
Contents
Quick Start#
Attention Mac users!
For these scripts, Mac users need to prepend the “python” command with “mj”: mjpython ...
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 2500+ 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.