OopsieVerse

OopsieVerse provides a damage-aware, simulator-agnostic framework and benchmark for evaluating and learning safer policies

Installation Steps

1. Clone and enter the repository:
   • Linux / macOS: git clone https://github.com/UT-Austin-RobIn/oopsieverse.git && cd oopsieverse
   • Windows: git clone https://github.com/UT-Austin-RobIn/oopsieverse.git; cd oopsieverse
2. Run the installer with python install.py --new_env and the simulators you need --robocasa or --behavior1k
3. conda activate oopsieverse
4. pip install -e .
5. test OG installation by: python -m omnigibson.examples.robots.all_robots_visualizer
6. test Robocasa installation by: python -m robocasa.demos.demo_kitchen_scenes

Commands

1. teleop (b1k)

python scripts/teleop_b1k.py --task_name shelve_item --live_feedback --save_video

2. playback (b1k)

python scripts/playback_b1k.py --task_name shelve_item --collect_hdf5_path demos/behavior1k/teleop_data/shelve_item.hdf5      --playback_hdf5_path demos/behavior1k/playback_data/shelve_item.hdf5 --playback --visualize --compute_metrics

Common issues

The NVIDIA driver on your system is too old (found version 12080). Please update your GPU driver by downloading and installing a new version from the URL: http://www.nvidia.com/Download/index.aspx Alternatively, go to: https://pytorch.org to install a PyTorch version that has been compiled with your version of the CUDA driver.

Uninstall torch and re-install a version compatible with your CUDA. We do: pip uninstall torch pip install torch==2.9.1

For using spacemouse: Add this for spacemouse compact to /etc/udev/rules.d/99-spacemouse.rules KERNEL=="hidraw*", ATTRS{idVendor}=="256f", ATTRS{idProduct}=="c635", MODE="0666", GROUP="plugdev" SUBSYSTEM=="usb", ATTRS{idVendor}=="256f", ATTRS{idProduct}=="c635", MODE="0666", GROUP="plugdev" then run sudo udevadm control --reload-rules

2. Works with pyspacemouse==1.1.4 (did not work with pyspacemouse==2.0.0)

TODO:

• install telemoma for b1k
• force use mediapipe==0.10.21 (newer version gives an error related to "solutions")