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Run ORA on your computer (CPU)

ora local runs one LIBERO task on your own machine with a CPU MuJoCo simulator: no GPU, CUDA, CuRobo or perception service. The model is called through the DeepSeek API, so you need an API key and network access. Your provider bills the calls.

This is a reduced composition for trying ORA, not the benchmark setup. Its tools are bounded end-effector moves, gripper open/close, RGB-D observation and point marking. It has no motion planner, segmentation or learned grasp service, so do not compare its results with the full server composition.

Requirements

  • Git, uv and Node.js 20 or newer (with npm) on PATH.
  • A Python 3.11 interpreter. ora setup does not download one; install it with uv python install 3.11 if needed.
  • macOS 13 or newer on Apple Silicon (native OpenGL), or Linux with the system OSMesa library for offscreen software rendering.
  • About 2 GB of disk for the pinned LIBERO sources, assets and the simulator's own Python environment.

Install

From a clone of this repository:

uv sync --all-extras --locked --python 3.11
./scripts/ora setup

ora setup downloads the pinned LIBERO-Pro code and task data, creates an isolated CPU simulator environment and installs the terminal UI (ora-tui/). It starts no simulator and calls no API. --root PATH (or ORA_LOCAL_ROOT) chooses the installation directory; the default is your user data directory.

Check

export DEEPSEEK_LOW_API_KEY=...        # DEEPSEEK_API_KEY is accepted too
./scripts/ora doctor --env local

doctor --env local checks the sources, simulator environment, graphics binding, credential presence and terminal UI without starting the simulator or calling the API. It prints what is missing and the next command.

Run

./scripts/ora local --confirm-launch

The task picker opens with LIBERO libero_goal task 0, seed 0 ("open the middle drawer of the cabinet"); press Enter to start it. --suite, --task-id and --seed select another original LIBERO task. Without --confirm-launch you can browse but not start a task.

A browser window follows the run's recorded camera frames: the scene stays still while the model thinks and moves only during robot actions. While the run is active you can steer it from the terminal; see interactive sessions. Runs land under outputs/ora-interactive/runs/.

Status

This path is new. Platform selection and the composition are covered by offline tests; it has not yet been validated end to end on a Mac. Please report the output of ./scripts/ora doctor --env local --json with any issue.