RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

This is the official codebase of RoboCasa, a large-scale simulation framework for training generally capable robots to perform everyday tasks. This guide contains information about installation and setup. Please refer to the following resources for additional information:

[Home page]   [Documentation]   [Paper]

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Installation

RoboCasa works across all major computing platforms. The easiest way to set up is through the Anaconda package management system. Follow the instructions below to install:

1. Set up conda environment:

   conda create -c conda-forge -n robocasa python=3.10

2. Activate conda environment:

   conda activate robocasa

3. Clone and setup robosuite dependency (important: use the robocasa_v0.1 branch!):

   git clone https://github.com/ARISE-Initiative/robosuite -b robocasa_v0.1
   cd robosuite
   pip install -e .

4. Clone and setup this repo:

   cd ..
   git clone https://github.com/robocasa/robocasa
   cd robocasa
   pip install -e .
   pip install pre-commit; pre-commit install           # Optional: set up code formatter.

5. Install the package and download assets:

   conda install -c numba numba -y
   python robocasa/scripts/download_kitchen_assets.py   # Caution: Assets to be downloaded are around 5GB.
   python robocasa/scripts/setup_macros.py              # Set up system variables.

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Quick start

(Mac users: for these scripts, 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 play back a sample demonstration for the selected task:

python -m robocasa.demos.demo_tasks

Explore library of 2500+ objects

View and interact with both human-designed and AI-generated objects:

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.

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.

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Tasks, datasets, policy learning, and additional use cases

Please refer to the documentation page for information about tasks and assets, downloading datasets, policy learning, API docs, and more.

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Citation

@inproceedings{robocasa2024,
  title={RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots},
  author={Soroush Nasiriany and Abhiram Maddukuri and Lance Zhang and Adeet Parikh and Aaron Lo and Abhishek Joshi and Ajay Mandlekar and Yuke Zhu},
  booktitle={Robotics: Science and Systems},
  year={2024}
}