:material-tools: Installation
:material-note-text: Requirements
Please make sure your system meets the following specs:
- OS: Ubuntu 20.04+ / Windows 10+
- RAM: 32GB+
- GPU: NVIDIA RTX 2070+
- VRAM: 8GB+
??? question "Why these specs?"
The core simulator behind BEHAVIOR, **`OmniGibson`**, is built upon NVIDIA's [Omniverse](https://www.nvidia.com/en-us/omniverse/) and [Isaac Sim](https://developer.nvidia.com/isaac-sim) platforms, so we inherit their dependencies. For more information, please see [Isaac Sim's Requirements](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/requirements.html).
:material-laptop: Setup
Choose your installation method:
- 🔧 Development Setup (Linux / Windows, Recommended): Use our unified setup script for editable installs and development.
!!! note "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.
!!! tip "" === "🔧 Development Setup (Linux / Windows)"
**Use this method if you want to modify the code or need the latest development features.**
1. Clone the BEHAVIOR-1K repository:
=== "Linux"
```shell
# Clone the latest stable release (recommended)
git clone -b v3.7.1 https://github.com/StanfordVL/BEHAVIOR-1K.git
cd BEHAVIOR-1K
```
=== "Windows"
```powershell
# Clone the latest stable release (recommended)
git clone -b v3.7.1 https://github.com/StanfordVL/BEHAVIOR-1K.git
cd BEHAVIOR-1K
```
!!! note "Development Branch"
If you want the latest development features and updates (potentially less stable), clone the main branch instead:
=== "Linux"
```shell
git clone https://github.com/StanfordVL/BEHAVIOR-1K.git
cd BEHAVIOR-1K
```
=== "Windows"
```powershell
git clone https://github.com/StanfordVL/BEHAVIOR-1K.git
cd BEHAVIOR-1K
```
2. Run the unified setup script:
=== "Linux"
```shell
# 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
```
=== "Windows"
```powershell
# 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:
=== "Linux"
```shell
conda activate behavior
```
=== "Windows"
```powershell
conda activate behavior
```
!!! info "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)
!!! tip "Using an existing Python environment"
You can omit `--new-env` to use your current Python environment instead of creating a new conda environment:
```shell
# 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.
!!! note "Windows Note"
Run PowerShell as Administrator and set execution policy if needed:
```powershell
Set-ExecutionPolicy -ExecutionPolicy RemoteSigned -Scope CurrentUser
```
:material-earth: Explore BEHAVIOR!
!!! warning annotate "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)!
- This demo lets you choose a scene, robot, and set of controllers, and then teleoperate the robot using your keyboard.
The
--quickstartflag 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)!
- This demo lets you choose a scene and interactively move around using your keyboard and mouse. Hold down
Shiftand thenLeft-click + Dragan object to apply forces!
Next: Get quickly familiarized with BEHAVIOR from our Quickstart Guide!
:material-fire-extinguisher: Troubleshooting
??? question "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>`.