Command-Line Reference

Commands

Command	What it does
pyrualean api	Print the API reference the agent reads (LIBERO-PRO's robot). --primitives no-vla leaves the VLA out.
pyrualean prompt	Print the prompt of a single shot (generate); --card renders it for a task card. A play episode saves the prompt its model read as prompt.txt in the run directory.
pyrualean play	Run one episode with an agent (Running Episodes).
pyrualean card	Boot only the simulator and save a task card.
pyrualean generate	Ask the model for a whole program from a task card (single shot).
pyrualean run	Run a program file for one episode.
pyrualean summarize	Tabulate run directories (Output Files).

The task instance

play, card and run take the same options:

Option	Meaning (default)
--robot	libero, robotwin or robocasa (libero). play also takes robodojo_xpl_rgb, which starts RoboDojo's own client itself (it needs ROBODOJO_SOURCE_ROOT and one environment with both sides); RoboDojo's official evaluation runs through XPolicyLab (RoboDojo)
--suite	LIBERO suite, RoboTwin task config or RoboCasa split
--task	LIBERO task index, or the robot's task name
--seed	the scene seed (0; always pass it, since the robots' own defaults are not used)
--out	the run directory
--cuda-device	the GPU the episode's servers use
--max-episode-steps	the simulator step limit (10000)
--rpent-root, --python	the RPent checkout and the interpreter it is installed in

play

Option	Meaning (default)
--arm	cells or program
--runtime	codex, claude or openai (codex; Agent Configuration)
--model, --reasoning	the model (gpt-6-astra) and its reasoning effort (xhigh)
--base-url, --api-key-env	an OpenAI-compatible endpoint, and the variable holding its key
--max-turns	the decision budget, in code cells
--budget-s	the wall-clock budget, in seconds (1200)
--images	on-motion, on-demand or none (on-motion)
--feedback	rich or pure (rich)
--primitives	full or no-vla (full)
--max-programs	the most programs on the program arm
--guides, --guides-dir	operating guides in the agent's workspace
--vla-endpoint, --sam3-endpoint	running model servers to attach to
--codex-home, --codex-bin, --claude-cli	the runtimes' homes and executables

Environment variables

Variable	Meaning
RPENT_ROOT	the RPent checkout, when RPent is not installed as a package
PYRUALEAN_RUNTIME	default of --runtime
PYRUALEAN_PRIMITIVES	default of --primitives
PYRUALEAN_CODEX_BIN, PYRUALEAN_CODEX_HOME	defaults of --codex-bin, --codex-home
PYRUALEAN_CLAUDE_CLI	default of --claude-cli
PYRUALEAN_OPENAI_EXTRA_BODY	default of --openai-extra-body
PYRUALEAN_CODEX_RETRIES	retries of a request from Codex (play, generate) to a --base-url endpoint (10)
OPENAI_BASE_URL, OPENAI_API_KEY	the endpoint and key of --runtime openai when --base-url / --api-key-env are not given
PYRUALEAN_OPENAI_RETRIES, PYRUALEAN_OPENAI_TIMEOUT_S	retries (10) and request timeout in seconds (900) of --runtime openai
CODEX_AUTO_COMPACT_TOKEN_LIMIT	Codex's compaction threshold for the episode (Agent Configuration)

pyrualean play passes --runtime and --primitives on only when they differ from codex and full, so a PYRUALEAN_RUNTIME or PYRUALEAN_PRIMITIVES in the environment also wins over an explicit --runtime codex or --primitives full: unset it to get those.

Each robot page lists the variables of its stack: checkpoints, assets and rendering.

Development

pip install -e '.[dev]'
pytest          # offline tests against scripted backends
ruff check .