Creating Datasets#
Collecting human demonstrations#
You can use the collect_demos.py script to collect demonstrations:
python robocasa/scripts/collect_demos.py --env <env-name>
Attention Mac users
Mac users must prepend this script with mj, ie. mjpython
You can either control the robot with a spacemouse (--device spacemouse) or the keyboard (--device keyboard). A spacemouse is recommended.
This will save a raw dataset. Follow the steps in the next section to extract image observations and convert the dataset to lerobot format for policy learning.
Extracting observations#
To extract observations from an existing dataset, you can run:
python robocasa/scripts/dataset_scripts/convert_hdf5_lerobot.py --raw_dataset_path <hdf5-ds-path>
This script will generate a new dataset subfolder named lerobot in the same directory as --raw_dataset_path. For more information on the generated dataset structure, please refer to the Using Datasets guide.
Image resolution
You can override the default image resolution by setting the flags --camera_height and --camera_width.