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

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.

Other useful sections¶

• Basic Usage

• Downloading Datasets

• Using Datasets

• Overview of Atomic Tasks

• Overview of Composite Tasks

• Training Policies on Datasets