wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
lerobot/scripts/control_sim_robot.py
View File

@ -6,26 +6,23 @@ Useful to record a dataset, replay a recorded episode and record an evaluation d
Examples of usage:
- Unlimited teleoperation at highest frequency (~200 Hz is expected), to exit with CTRL+C:
```bash
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:
- Unlimited teleoperation at a limited frequency of 30 Hz, to simulate data recording frequency.
You can modify this value depending on how fast your simulation can run:
```bash
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:
```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 \
--root tmp/data \
--repo-id $USER/koch_test \
--repo-id $USER/robot_sim_test \
--num-episodes 1 \
--run-compute-stats 0
```
@ -34,13 +31,14 @@ python lerobot/scripts/control_robot.py record \
```bash
python lerobot/scripts/visualize_dataset.py \
--root tmp/data \
--repo-id $USER/koch_test \
--repo-id $USER/robot_sim_test \
--episode-index 0
```
- Replay this test episode:
```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 \
--root tmp/data \
--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,
30 seconds of recording for each episode, and 10 seconds to reset the environment in between episodes:
```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 \
--root data \
--repo-id $USER/koch_pick_place_lego \
--repo-id $USER/robot_sim_test \
--num-episodes 50 \
--episode-time-s 30 \
--reset-time-s 10