Demo Guide#

Replay the demo#

python src/scripts/replay_demo.py --enable_cameras --task PickCube env.scene.num_envs=4

You can also use other tasks. We currently support:

  • PickCube

  • PlugCharger

  • CloseBox

  • StackCube

Collect the demo#

python src/scripts/collect_demo.py --enable_cameras --task PickCube env.scene.num_envs=4 --headless

The collected demos will be saved under ./data_isaaclab/demo/{task}/robot-franka.

When collecting demo, the RAM will grow up, during which the collected rendered data are gathered before writing to the disk. After a while, the RAM occupation should become steady.

On RTX 4090, the ideal num_envs is 64.