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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

NOTE: 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.