Installation¶

1. Clone and setup MimicGen under the experimental/robocasa branch:

   git clone https://github.com/NVlabs/mimicgen -b experimental/robocasa
   cd mimicgen
   pip install -e .
   

2. Setup the robomimic dependency:

   cd ..
   git clone https://github.com/ARISE-Initiative/robomimic -b robocasa
   cd robomimic
   pip install -e .
   

Generate data for existing tasks¶

We have set up MimicGen for 24/25 existing atomic tasks. Generating demonstration datasets for these tasks is a 3 step process, which we illustrate for the PnPCounterToSink task:

(Note: these commands assume that datasets are stored under ~/robocasa/datasets)

1. Extract subtask meta data:

   python mimicgen/scripts/prepare_src_dataset.py --dataset ~/robocasa/datasets/v0.1/single_stage/kitchen_pnp/PnPCounterToSink/2024-04-25/demo.hdf5
   

2. Generate demonstartions:

   python mimicgen/scripts/generate_dataset.py --config mimicgen/exps/templates/robocasa/single_stage/kitchen_pnp/PnPCounterToSink.json
   

3. Extract image observations. You can then extract image datasets following the dataset extraction tutorial on this guide.

Set up MimicGen for new tasks¶

Please follow the official MimicGen documentation tutorial page.