Replaying an Episode
Now try to replay the first recorded episode on your robot:
python lerobot/scripts/control_robot.py \
--robot.type=trossen_ai_stationary \
--robot.max_relative_target=null \
--control.type=replay \
--control.fps=30 \
--control.repo_id=${HF_USER}/trossen_ai_stationary_test \
--control.episode=0 \
python lerobot/scripts/control_robot.py \
--robot.type=trossen_ai_mobile \
--robot.max_relative_target=null \
--control.type=replay \
--control.fps=30 \
--control.repo_id=${HF_USER}/trossen_ai_mobile_test \
--control.episode=0 \
--robot.enable_motor_torque=true
Note
The Trossen AI Mobile robot needs the base torque to be enabled to move in replay mode.
You can enable it by adding --robot.enable_motor_torque=true to the command line.
python lerobot/scripts/control_robot.py \
--robot.type=trossen_ai_solo \
--robot.max_relative_target=null \
--control.type=replay \
--control.fps=30 \
--control.repo_id=${HF_USER}/trossen_ai_solo_test \
--control.episode=0 \
Replay Configuration
When using the robot in replay mode you can specify command line arguments to customize the behavior:
--control.repo_id(str): The repository ID to upload the dataset to. By convention, it should match ‘{hf_username}/{dataset_name}’ (e.g. lerobot/test).--control.episode(int): The index of the episode to replay.--control.root(str | Path | None): The root directory where the dataset will be stored (e.g. ‘dataset/path’).--control.fps(int | None): Limit the frames per second. By default, uses the dataset fps.--control.play_sounds(bool): Flag to use vocal synthesis to read events.--control.local_files_only(bool): Flag to use local files only. By default, this script will try to fetch the dataset from the hub if it exists.