Collect Demonstrations#

python metasim/scripts/collect_demo.py --task=PickCube --num_envs=4

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.

Domain Randomization#

Protocal:

  • Level 0: No randomization

  • Level 1: Randomize the visual material (“texture”) of ground - and table

  • Level 2: Randomize camera pose

  • Level 3: Randomize object reflection (“material”) and lighting