Replaying an Episode

Warning

We have introdced a new change in how the values are saved in the dataset. The values are now saved in the dataset as radians for all joints and no scaling is applied for the gripper. If you are using a previous version of the dataset, the values for joints 0-5 will be in degrees and a scaling of 10000 will be applied to gripper. Check Trossen v1.0 Dataset Format before using datasets from previous versions.

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.