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]

Latest updates¶

[10/31/2024] v0.2: using RoboSuite v1.5 as the backend, with improved support for custom robot composition, composite controllers, more teleoperation devices, photo-realistic rendering.

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 master branch!):

git clone https://github.com/ARISE-Initiative/robosuite
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.

(optional: if running into issues with numba/numpy, run: conda install -c numba numba=0.56.4 -y)

5. Install the package and download assets:

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.

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.

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.

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}
}