README.md

Data recording

Inside this folder, you can find various scripts for data collection and robot teleoperation. This folder contains:

  .scripts/
    |-- episode_generator_picking        # Controls the simulated robot during data collection
    |-- episode_manager                  # Manages data saving in real environments
    |-- episode_recorder                 # Saves episodes during data collection
    |-- keyboard_teleop                  # Controls the robot via keyboard teleoperation
    |-- lite6_parallel_gripper_controller # Run this to open/close the gripper
    |-- save_parquet                     # Saves collected data in parquet format
    |-- sixd_speed_limiter               # Splits the path into smaller segments to prevent jerks
    |-- space_teleop                     # Controls the robot via space mouse teleoperation

Note

We support two datasets in Parquet format, collected from both real and simulated environments. You can find these datasets inside the imitation/data folder. Currently, we support the collection of:

• Images: RGB images sized 96x96 pixels
• Current Pose and Actions: Vectors containing six values in the format [x,y,z,yaw,pitch,roll].

If you want to change the data format, you can do so directly during data collection in the episode_recorder script or while saving in parquet format.

Usage

Simulated Data Collection

To collect data in a simulated environment, follow these steps:

1. Run the script to save the episode data:

./episode_recorder --data_dir FILE_NAME

2. Run the script to control the simulated robot:

./episode_generator_picking

Real Data Collection

To collect data from a real robot, use the following steps:

1. Start the episode manager to manage data saving:

./episode_manager

2. Record the episode data:

./episode_recorder --data_dir FILE_NAME

3. Choose a teleoperation method to control the robot:

• Space Mouse Teleoperation:

./space_teleop

• Keyboard Teleoperation:

./keyboard_teleop

Note:

• Using the episode_manager, you can control when an episode starts, ends, and where breakpoints occur during an episode.

Data saving

To save the collected data in the proper format, run the following command:

./save_parquet --data_path DATA_PATH

This will save your data in parquet format, ensuring efficient storage and compatibility for further processing. Saved file you need to move inside imitation/data folder.