More Sim Demos#

More Scenes#

You can use various environments with XLeRobot following this:

  • ReplicaCAD_SceneManipulation-v1 (default)

  • AI2THOR scenes

  • Robocasa Kitchen counter scenes

  • OpenCabinetDrawer-v1

    image

VR Integration#

To enable VR with Oculus:

  1. Install Oculus reader according to the (official documentation)[https://github.com/rail-berkeley/oculus_reader]

  2. Replace the reader.py file with the provided version in codes/VR/reader.py:

  3. Update the path of the Oculus reader folder in your configuration:

    image

  4. After putting the control code to examples/, run the end effector control demo with:

python -m mani_skill.examples.XLeRobot_demo_VR_ee_ctrl -e "ReplicaCAD_SceneManipulation-v1"   --render-mode="human" --shader="rt-fast" -c "pd_joint_delta_pos_dual_arm"

Custom Hardware#

To use different hardware versions:

  1. Modify the URDF path in agents/robots/fetch.py to follow the files in assets/

  2. You may need to adjust the size of qpos depending on your hardware configuration

    image

Troubleshooting#

Common Errors#

  • Navigate to the script and change the link name

  • Navigate to the script and comment out the avoid collision list