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Installation

Requirements

Please make sure your system meets the following specs:

  • OS: Ubuntu 20.04+ / Windows 10+
  • RAM: 32GB+
  • GPU: NVIDIA RTX 2070+
  • VRAM: 8GB+
Why these specs?

The core simulator behind BEHAVIOR, OmniGibson, is built upon NVIDIA's Omniverse and Isaac Sim platforms, so we inherit their dependencies. For more information, please see Isaac Sim's Requirements.

Setup

Choose your installation method:

  • 🔧 Development Setup (Linux / Windows, Recommended): Use our unified setup script for editable installs and development.

Installation Options

  • PyPI packages (omnigibson, bddl, joylo) are coming soon for easier production deployments
  • Docker installation is temporarily unavailable while we update it for the monorepo structure

For now, please use the development setup which installs from source.

Use this method if you want to modify the code or need the latest development features.

  1. Clone the BEHAVIOR-1K repository:

    Clone the latest stable release (recommended):

    git clone -b v3.7.2 https://github.com/StanfordVL/BEHAVIOR-1K.git
cd BEHAVIOR-1K

    If you want the latest development features and updates (potentially less stable), directly clone the main branch instead:

    git clone https://github.com/StanfordVL/BEHAVIOR-1K.git
cd BEHAVIOR-1K

  2. Run the unified setup script:

    # Full installation with all components
./setup.sh --new-env --omnigibson --bddl --joylo --dataset --eval --primitives

# Core components only (without evaluation and teleoperation)
./setup.sh --new-env --omnigibson --bddl --dataset

# Headless/automated installation (auto-accepts Conda TOS, NVIDIA Isaac Sim EULA, and BEHAVIOR Dataset License)
./setup.sh --new-env --omnigibson --bddl --dataset \
           --accept-conda-tos --accept-nvidia-eula --accept-dataset-tos

# See all options
./setup.sh --help

    # Full installation with all components
.\setup.ps1 -NewEnv -OmniGibson -BDDL -JoyLo -Dataset -Eval -Primitives

# Core components only (without evaluation and teleoperation)
.\setup.ps1 -NewEnv -OmniGibson -BDDL -Dataset

# Headless/automated installation (auto-accepts Conda TOS, NVIDIA Isaac Sim EULA, and BEHAVIOR Dataset License)
.\setup.ps1 -NewEnv -OmniGibson -BDDL -Dataset `
            -AcceptCondaTos -AcceptNvidiaEula -AcceptDatasetTos

# See all options
.\setup.ps1 -Help

  3. Activate the environment:

    conda activate behavior

What does the setup script do?

  • Creates a new conda environment named behavior (when using --new-env)
  • Installs all selected components in editable mode
  • Downloads Isaac Sim and BEHAVIOR datasets (if requested)

Using an existing Python environment

You can omit --new-env to use your current Python environment instead of creating a new conda environment: 

# Linux: Install in current environment
./setup.sh --omnigibson --bddl --joylo --dataset

# Skip confirmation prompt with --confirm-no-conda
./setup.sh --omnigibson --bddl --confirm-no-conda
The script will prompt for confirmation if not in a conda environment.

Windows Note

Run PowerShell as Administrator and set execution policy if needed: 

Set-ExecutionPolicy -ExecutionPolicy RemoteSigned -Scope CurrentUser

Explore BEHAVIOR!

Expect slowdown during first execution

Omniverse requires some one-time startup setup when OmniGibson is imported for the first time.

The process could take up to 5 minutes. This is expected behavior, and should only occur once!

BEHAVIOR is now successfully installed! You can try teleoperating one of our robots:

python -m omnigibson.examples.robots.robot_control_example --quickstart # (1)!
  1. This demo lets you choose a scene, robot, and set of controllers, and then teleoperate the robot using your keyboard. The --quickstart flag will automatically select the scene and robot for you - remove that if you want to change the scene or robot.

You can also try exploring some of our new scenes interactively:

python -m omnigibson.examples.scenes.scene_selector # (1)!
  1. This demo lets you choose a scene and interactively move around using your keyboard and mouse. Hold down Shift and then Left-click + Drag an object to apply forces!

Next: Get quickly familiarized with BEHAVIOR from our Quickstart Guide!

Troubleshooting

CuRobo installation failed

This is likely due to incorrect configurations of cuda toolkit. If you don't plan to use system-installed cuda toolkit, here is an alternate way to get it work all in conda:

  1. Install behavior without primitives support first: ./setup.sh --new-env --bddl --omnigibson [OTHER FLAGS]
  2. Activate conda environment: conda activate behavior
  3. Install cuda (we use 12.4 here as an example): conda install "cuda-compiler=12.4" "cuda-toolkit=12.4" -c conda-forge

  4. Set environment variables: 

    export CUDA_HOME="$CONDA_PREFIX"
export CUDACXX="$CONDA_PREFIX/bin/nvcc"
export CUDA_PATH="$CUDA_HOME"

export CPATH="$CONDA_PREFIX/targets/x86_64-linux/include:$CPATH"
export LIBRARY_PATH="$CONDA_PREFIX/targets/x86_64-linux/lib:$LIBRARY_PATH"
export LD_LIBRARY_PATH="$CONDA_PREFIX/targets/x86_64-linux/lib:$LD_LIBRARY_PATH"

  5. Install primitive support: ./setup.sh --bddl --omnigibson --primitives

Note that with this method you need to set the environment variables (step 4) the first time curobo performs JIT compilation.

OmniGibson is stuck at HydraEngine rtx failed creating scene renderer.

OmniGibson is likely using an unsupported GPU (default is id 0). Run nvidia-smi to see the active list of GPUs, and select an NVIDIA-supported GPU and set its corresponding ID when running OmniGibson with export OMNIGIBSON_GPU_ID=<ID NUMBER>.