## 1. RoboCasa365 Env Installation _ Lerobot

```bash
cd robosuite
pip install -e .

cd ..
cd robocasa
pip install -e .

python -m robocasa.scripts.setup_macros
python -m robocasa.scripts.download_kitchen_assets


cp configs.py ~/clvla/benchmarks/robocasa365/lerobot/src/lerobot/envs/configs.py
```

---

## 2. Eval

```bash
lerobot-eval \
    --policy.path="BrunoM42/act_base-robocasa_target_PickPlaceCounterToCabinet" \
    --env.type=robocasa \
    --env.task=PickPlaceCounterToCabinet \ [singletask(=PickPlaceCounterToCabinet, ...), atomic_seen(benchmark)]
    --eval.batch_size=5 \
    --eval.n_episodes=5 \
    --policy.device=cuda \
    --trust_remote_code=true \
    --env.split=pretrain \  #객체정보 [pretrain, target, all]
    --eval.use_async_envs=True # 보류 : task_description 누락?
    
    # 단일 task냐 벤치마크냐는 env.task로 판별 atomic_seen(benchmark), PickPlaceCounterToCabinet(단일)

```