MAGMA Scenarios

Official robotic task scenarios and the shared scenario registry for MAGMA-GEN and MAGMA-BENCH. The package provides simulation environments, task definitions, presets, skills, and functions for discovering and loading scenarios from installed Python packages.

You can add your own scenarios in a separate package without modifying this repository or the generation pipeline.

Installation

Python 3.12 is required. Simulation installation has been checked on Linux x86_64.

python -m pip install "magma_scenarios==2.0.2"

This installs magma_core[simulation] and the simulation dependencies, including ManiSkill, SAPIEN, and PyTorch. Version 2.0.2 is a stable release of this package; it accepts MAGMA Core starting at 2.0.0b1, including subsequent stable v2 releases. GPU rendering requires suitable system drivers.

To install the release directly from GitHub:

python -m pip install "magma_scenarios @ git+https://github.com/MAGMA-rob/magma-scenarios.git@v2.0.2"

This installs the scenario code from GitHub and resolves dependencies from PyPI. For development, clone this repository and run python -m pip install -e ..

Discover and load scenarios

magma-scenarios list
magma-scenarios show press_button

The same registry is available in Python:

from magma_scenarios import get_scenario, list_scenarios, load_definition, load_preset

print(list_scenarios())
manifest = get_scenario("press_button")
definition_type = load_definition("press_button.Definition")
preset_type = load_preset("press_button.ButtonPressOrdered")

Listing scenarios and reading manifests do not start a simulator or register simulation environments. Loading a definition, preset, or skill registers its scenario's environments and returns the component class; it does not create an environment. Benchmarks can register an environment by ID with register_environment("PressButtonBasic-v1").

Included scenarios cover button pressing, sorting, delivery, table cleaning, laundry, coffee preparation, and packaging. Use magma-scenarios list to see all installed scenario providers.

Add your own scenarios

Please refer to the official documentation site

Development and support

Use magma-scenarios --help for all commands. test-tools and test-requests provide interactive checks for scenario implementations; see their --help for configuration options.

Report bugs through GitHub Issues or contact Loan Bernat.

Authors and license

Loan Bernat, with contributions from Abdelbasset Houdass (internship). Licensed under the BSD 2-Clause License.