Contributing Trajectories#

With a task defined, we can also define the related trajectories for the task, to be the demonstration for the environment.

1. Record the Trajectories#

Recording can be done in any fasion, such as teleoperation, scripted policy, or RL policy.

The recorded trajectories should be saved in the v2 trajectory format, which is a dumped dict defined in State.

By running the following command, you can replay trajectory:

python scripts/advanced/replay_demo.py --sim=${simulator} --robot=${robot_name} --task=${task_name} --traj_path=${path_to_traj}

traj_path parameter can also be ignored to use the default trajectory path defined by the task class.

Add the trajectories to the RoboVerse data repository by creating a PR. Please follow the repository structure. We thank you for your contribution.