SimplerEnv Runtime

SimplerEnv evaluation normally runs outside the caller's Python environment. praxis-eval starts a policy endpoint and launches the SimplerEnv runtime as a subprocess.

Command

praxis-eval-setup simpler

Useful options:

praxis-eval-setup simpler --env-manager micromamba --env-name simpler-praxis
praxis-eval-setup simpler --ms-asset-dir /data/simpler/maniskill_assets
praxis-eval-setup simpler --skip-assets
praxis-eval-setup simpler --skip-status-check
praxis-eval-setup simpler --help

What It Does

The setup helper:

1. Locates the conda environment spec shipped by praxis-simpler: simpler_env/praxis_conda_env.yaml.
2. Creates or updates the requested conda or micromamba environment.
3. Installs praxis-simpler, praxis-remote, and praxis-eval into that environment.
4. Downloads the bridge_v2_real2sim and widowx250s ManiSkill assets unless --skip-assets is set.
5. Installs activation hooks for Vulkan/EGL and MS_ASSET_DIR.
6. Runs an import/status check unless --skip-status-check is set.

Default managed asset root:

~/.cache/praxis_eval/assets/simpler/maniskill_assets

Evaluation Config

Pass the runtime interpreter to evaluation:

from praxis_eval import EvalConfig

config = EvalConfig(
    task="bridge",
    num_eval_per_task=4,
    num_parallel_env=2,
    output_dir="eval/simpler_bridge",
    env_kwargs={
        "python_bin": "/path/to/simpler-praxis/bin/python",
        "ms_asset_dir": "/data/simpler/maniskill_assets",
        "shader": "default",
    },
)

Verify

praxis-eval-verify simpler --env-name simpler-praxis --num-episodes 1 --num-envs 1
praxis-eval-verify simpler --env-python-bin /path/to/simpler-praxis/bin/python

Caveats

• The caller environment only needs praxis-eval, policy dependencies, and the optional remote transport path.
• The simulator runtime must be able to import simpler_env, praxis_eval, and praxis_remote.
• GPU cluster nodes often need explicit Vulkan/EGL variables; setup writes activation hooks for that reason.