Setup Guide

Install Python Requirements

We strongly advise using a virtual envrionment manager such as Conda or pyenv

Install the environments and dependencies by running the following commands.

pip install -r requirements.txt

Then, set up the colors of collision meshes transparent in these lines at <robosuite-home>/utils/mjcf_utils.py.

(Optional) Set up robosuite macros by running the following commands,

python <robosuite-home>/scripts/setup_macros.py

CUDA Installation

You should install a version of CUDA corresponding to the PyTorch installation. This repo currently uses PyTorch 2.1 with a CUDA 12.1 backend. You can install CUDA 12.1 here.

Weights & Biases Logging

This repository uses Weights & Biases for logging and data monitoring during training. To setup, sign up for a free account on the website and authorize your account using wandb login. This will require an API key you can acquire from the authorization page. You should only need to do this setup step once.

Setup VR

Use our vr branch to setup your VR headset. We designed this repo to work with Meta's Oculus Quest 2.