Installation

BiGym 2.0 needs Python 3.10 or newer and runs on Linux and macOS. It installs from source with uv:

curl -LsSf https://astral.sh/uv/install.sh | sh     # uv, if you don't have it yet
git clone https://github.com/swirl-uk/BiGym2.git && cd BiGym2
uv sync

Extras

The core install has the environments, the GR00T-WBC lower body, the demonstration loader, the evaluation runner and the viewer.

Extra	Adds	Needed for
agent	OpenCV, SciPy, mink	the coding-agent benchmark (bigym-agent)
vr	pyopenxr, mink	VR teleoperation (bigym-collect)
lerobot	LeRobot and torch	writing LeRobot datasets (bigym-export-lerobot, bigym-rerender-lerobot)

The lerobot extra needs Python 3.12 or newer. Below 3.12 it installs nothing. Reading the published demonstrations does not need it.

uv sync makes the environment match the extras you name. List every extra you want in one command. A later uv sync --extra vr removes what --extra agent installed.

vr and lerobot cannot share an environment. pyopenxr needs setuptools<70 and LeRobot needs setuptools>=71. A collection machine installs vr and agent and adds LeRobot for a single export:

uv sync --extra vr --extra agent
uv run --with "lerobot[dataset]>=0.6" bigym-export-lerobot ...

uv sync also installs the dev group. --no-dev skips it. --group docs adds Sphinx.

Running commands

Run commands through uv run, for example uv run bigym-download --list. To drop the prefix, activate the environment once with source .venv/bin/activate.

On headless Linux, set MUJOCO_GL=egl. On macOS, leave it unset.

VR collection needs Linux with an OpenXR runtime. See Collecting demonstrations.