⚠️ Out-dated, check praxis-eval, a simple, modular, efficient, extensible evaluation framework with all benchmarks included in this repo, and more.
Currently we included robocasa, robomimic, rlbench, metaworld, libero. They all supports asynchronous vectorized policy evaluation. Find more instructions on each environment below. Also check conda_yaml for installation commands.
- Add the following lines to
~/.bashrc
# mujoco
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${HOME}/.mujoco/mujoco210/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64
export MUJOCO_GL=egl
- Make it count
source ~/.bashrc
- Download and install mujoco binary to location
${HOME}/.mujoco
$ cd ~/.mujoco
$ wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco210.tar.gz --no-check-certificate
$ tar -xvzf mujoco210.tar.gz
- Generate dataset with
python scripts/gen_data.py metaworld --help
- Add the following lines to
~/.bashrc
# coppelia sim
export COPPELIASIM_ROOT=${HOME}/.coppeliasim
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
- Make it count
source ~/.bashrc
- Download and install CoppeliaSim binary to location
${HOME}/.coppeliasim
$ wget https://downloads.coppeliarobotics.com/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
$ mkdir -p $COPPELIASIM_ROOT && tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -C $COPPELIASIM_ROOT --strip-components 1
$ rm -rf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
- Generate dataset with
python scripts/gen_data.py rlbench --help
- find a desired path and clone the repo
git clone https://github.com/Lifelong-Robot-Learning/LIBERO.git
- install
cd LIBERO
pip install -e .
- Download datasets
python benchmark_scripts/download_libero_datasets.py --datasets libero_[spatial/object/goal/100]
- Check
scripts/convert_libero_dataset.py
- Download assets with
python -m robocasa.scripts.download_kitchen_assets
- Configure macros
python -m robocasa.scripts.setup_macros
- Edit
DATASET_BASE_PATHinrobocasa/macros_private.pyto desired data folder for data downloading - Download datasets
python -m robocasa.scripts.download_datasets --tasks [...] --ds_types [mg_im/human_im/human_raw]
- Check
scripts/convert_robocasa_dataset.py
- Download datasets
python -m robomimic.scripts.download_datasets --download_dir data/robomimic/hdf5_datasets --tasks [...] --dataset_types ph --hdf5_types raw
- Check
scripts/convert_robomimic_dataset.py
- RoboCasa requires nightly
robosuite, install this version
git+https://github.com/Chaoqi-LIU/robosuite.git@trajtok#egg=robosuite
- LIBERO requires
robosuite==1.4.0, install with
pip install robosuite==1.4.0