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updated usage in control_sim_robot

This commit is contained in:
Michel Aractingi 2024-10-18 10:37:12 +02:00
parent 22df0b381d
commit 0ef2397029
1 changed files with 16 additions and 16 deletions
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32
lerobot/scripts/control_sim_robot.py
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@ -6,26 +6,23 @@ Useful to record a dataset, replay a recorded episode and record an evaluation d
Examples of usage: Examples of usage:
- Unlimited teleoperation at highest frequency (~200 Hz is expected), to exit with CTRL+C: - Unlimited teleoperation at a limited frequency of 30 Hz, to simulate data recording frequency.
```bash You can modify this value depending on how fast your simulation can run:
python lerobot/scripts/control_robot.py teleoperate
# Remove the cameras from the robot definition. They are not used in 'teleoperate' anyway.
python lerobot/scripts/control_robot.py teleoperate --robot-overrides '~cameras'
```
- Unlimited teleoperation at a limited frequency of 30 Hz, to simulate data recording frequency:
```bash ```bash
python lerobot/scripts/control_robot.py teleoperate \ python lerobot/scripts/control_robot.py teleoperate \
--fps 30 --fps 30 \
--robot-path lerobot/configs/robot/your_robot_config.yaml \
--sim-config lerobot/configs/env/your_sim_config.yaml
``` ```
- Record one episode in order to test replay: - Record one episode in order to test replay:
```bash ```bash
python lerobot/scripts/control_robot.py record \ python lerobot/scripts/control_sim_robot.py record \
--robot-path lerobot/configs/robot/your_robot_config.yaml \
--sim-config lerobot/configs/env/your_sim_config.yaml \
--fps 30 \ --fps 30 \
--root tmp/data \ --root tmp/data \
--repo-id $USER/koch_test \ --repo-id $USER/robot_sim_test \
--num-episodes 1 \ --num-episodes 1 \
--run-compute-stats 0 --run-compute-stats 0
``` ```
@ -34,13 +31,14 @@ python lerobot/scripts/control_robot.py record \
```bash ```bash
python lerobot/scripts/visualize_dataset.py \ python lerobot/scripts/visualize_dataset.py \
--root tmp/data \ --root tmp/data \
--repo-id $USER/koch_test \ --repo-id $USER/robot_sim_test \
--episode-index 0 --episode-index 0
``` ```
- Replay this test episode: - Replay this test episode:
```bash ```bash
python lerobot/scripts/control_robot.py replay \ python lerobot/scripts/control_sim_robot.py replay \
--sim-config lerobot/configs/env/your_sim_config.yaml \
--fps 30 \ --fps 30 \
--root tmp/data \ --root tmp/data \
--repo-id $USER/koch_test \ --repo-id $USER/koch_test \
@ -50,10 +48,12 @@ python lerobot/scripts/control_robot.py replay \
- Record a full dataset in order to train a policy, - Record a full dataset in order to train a policy,
30 seconds of recording for each episode, and 10 seconds to reset the environment in between episodes: 30 seconds of recording for each episode, and 10 seconds to reset the environment in between episodes:
```bash ```bash
python lerobot/scripts/control_robot.py record \ python lerobot/scripts/control_sim_robot.py record \
--robot-path lerobot/configs/robot/your_robot_config.yaml \
--sim-config lerobot/configs/env/your_sim_config.yaml \
--fps 30 \ --fps 30 \
--root data \ --root data \
--repo-id $USER/koch_pick_place_lego \ --repo-id $USER/robot_sim_test \
--num-episodes 50 \ --num-episodes 50 \
--episode-time-s 30 \ --episode-time-s 30 \
--reset-time-s 10 --reset-time-s 10