CoRAL Bench

Existing Benchmark Packages

	Simulator
SimplerEnv	SAPIEN

Set up

Typical set up

Install IsaacLab Arena in the docker container as they instruct.

Set up with native Isaac Sim, Isaac Lab, and Isaac Lab Arena

Follow the instructions here https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/binaries_installation.html

I used the UV based installation. one can use UV on top of a conda environment, and I specifically used it on top of a pixi managed conda environment.

Note that if using direnv, you can’t use immediately use some of the aliases the scripts define.

Then install Isaaclab-Arena. Currently it only officially supports installation from the docker image, but one can run the following pip installs in the uv environment to use isaaclab arena natively without issue. The other steps in the dockerfile I have not done so far, but may be done later in the case they become an issue.

uv pip install -e $ISAACLAB_ARENA_DIR
uv pip install pytest jupyter typing_extensions onnxruntime
uv pip install vuer lightwheel-sdk
uv pip install huggingface-hub[cli]