https://github.com/robocasa/robocasa
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
https://github.com/robocasa/robocasa
humanoid-robot physics-simulation robot-learning robotics
Last synced: 2 months ago
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RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
- Host: GitHub
- URL: https://github.com/robocasa/robocasa
- Owner: robocasa
- License: other
- Created: 2024-05-11T11:14:03.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2025-12-18T16:27:52.000Z (4 months ago)
- Last Synced: 2025-12-21T20:28:13.208Z (4 months ago)
- Topics: humanoid-robot, physics-simulation, robot-learning, robotics
- Language: Python
- Homepage: https://robocasa.ai/
- Size: 20.3 MB
- Stars: 1,043
- Watchers: 12
- Forks: 127
- Open Issues: 49
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# 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]**](https://robocasa.ai) [**[Documentation]**](https://robocasa.ai/docs/introduction/overview.html) [**[Paper]**](https://robocasa.ai/assets/robocasa_rss24.pdf)
-------
## 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](https://www.anaconda.com/) package management system. Follow the instructions below to install:
1. Set up conda environment:
```sh
conda create -c conda-forge -n robocasa python=3.10
```
2. Activate conda environment:
```sh
conda activate robocasa
```
3. Clone and setup robosuite dependency (**important: use the master branch!**):
```sh
git clone https://github.com/ARISE-Initiative/robosuite
cd robosuite
pip install -e .
```
4. Clone and setup this repo:
```sh
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:
```sh
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](https://robocasa.ai/docs/introduction/overview.html) for information about tasks and assets, downloading datasets, policy learning, API docs, and more.
-------
## License
Code: [MIT License](https://opensource.org/license/mit)
Assets and Datasets: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/deed.en)
-------
## Citation
```bibtex
@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}
}
```