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Dataset Replay

After teleoperation, you can replay the collected dataset in the simulation environment using the following script:

python scripts/environments/teleoperation/replay.py \
    --task=LeIsaac-SO101-PickOrange-v0 \
    --num_envs=1 \
    --device=cuda \
    --enable_cameras \
    --replay_mode=action \
    --dataset_file=./datasets/dataset.hdf5 \
    --select_episodes 1 2
Parameter descriptions for replay.py

  • --task: Specify the task environment name to run, e.g., LeIsaac-SO101-PickOrange-v0.

  • --num_envs: Set the number of parallel simulation environments, usually 1 for replay.

  • --device: Specify the computation device, such as cpu or cuda (GPU).

  • --enable_cameras: Enable camera sensors to visualize when replay.

  • --replay_mode: Replay mode, we support replay action or state.

  • --task_type: Specify task type. If your dataset is recorded with keyboard, you should set it to keyboard, otherwise not to set it and keep default value None.

  • --dataset_file: Path to the recorded dataset, e.g., ./datasets/record_data.hdf5.

  • --select_episodes: A list of episode indices to replayed, Keep empty to replay all episodes.

tip

If you record datasets with devices other than the Leader (for example, the keyboard or gamepad), set task_type to the corresponding device, such as --task_type=keyboard or --task_type=gamepad.

For Lekiwi-related tasks, the default task_type is lekiwi-leader. If you collect data using other devices, you should likewise set task_type to the corresponding device.