Suites

robouse 0.4.0 bundles 692 tasks in 31 suites. "Needs" is what a suite needs beyond pip install 'robouse[sim]', if anything. The last two columns count the tasks that scored 1 with the reference solution and with the no-op control.

robouse fetch-assets downloads the MuJoCo Menagerie robot models for menagerie, roboharm and drone; robouse fetch-assets --all adds every robot the other suites and composed tasks use (about 390 MB). Each file is checked by SHA-256. Results of models on these suites: Runs.

LIBERO pins robosuite 1.4, so it needs a virtual environment of its own:

python3.12 -m venv .venv-libero && source .venv-libero/bin/activate
pip install 'robouse[sim]' 'mujoco==3.3.0'
pip install --no-deps hf-libero==0.1.4 robosuite==1.4.0 bddl==1.0.1
pip install numba scipy opencv-python-headless termcolor easydict \
  huggingface_hub h5py fsspec tqdm matplotlib future cloudpickle gymnasium
pip install torch --index-url https://download.pytorch.org/whl/cpu
robouse run \
  --task libero-object-0 \
  --harness oracle \
  --out runs/try

The first episode downloads LIBERO's scene assets (about 400 MB) into ~/.cache/libero/assets. In a new environment the first start can take more than two minutes, and robouse run may stop with TimeoutError: episode server did not start; run it again.

These simulators pin versions that conflict with the main environment. The episode server runs each in a virtualenv of its own, started as a subprocess; set the environment variable to use another interpreter.

# dexjoco (ROBOUSE_DEXJOCO_PYTHON); also pip install 'robouse[dexjoco]'
git clone --depth 1 https://github.com/brave-eai/dexjoco.git \
  ~/.cache/robouse/dexjoco
uv venv -p 3.11 ~/.cache/robouse/dexjoco-venv
VIRTUAL_ENV=~/.cache/robouse/dexjoco-venv uv pip install \
  -e ~/.cache/robouse/dexjoco/dexjoco \
  "numcodecs<0.16"

# driving (ROBOUSE_METADRIVE_PYTHON)
uv venv -p 3.11 ~/.cache/robouse/metadrive-venv
uv pip install \
  -p ~/.cache/robouse/metadrive-venv/bin/python \
  metadrive-simulator==0.4.3

# dmcontrol (ROBOUSE_DMCONTROL_PYTHON)
uv venv -p 3.12 ~/.cache/robouse/dmcontrol-venv
uv pip install \
  -p ~/.cache/robouse/dmcontrol-venv/bin/python \
  dm-control==1.0.47

# myosuite (ROBOUSE_MYOSUITE_PYTHON)
uv venv -p 3.11 ~/.cache/robouse/myosuite-venv
uv pip install \
  -p ~/.cache/robouse/myosuite-venv/bin/python \
  myosuite==2.12.2 scipy==1.16.2

humanoidbench, maniskill and robocasa run from the hub, with bench eval run -d.

The Menagerie-based suites use MuJoCo Menagerie commit 8161bba2; the models are downloaded, not bundled.

The driving suite uses MetaDrive 0.4.3 (Apache-2.0).

These suites run their simulators in environments built from the upstream projects' own pinned stacks (RLE-Bench's robosuite and RoboCasa commits; CaP-X's robosuite forks, LIBERO-PRO and PyRoKi), so they are not in the package: they run in those simulator images.