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def setup_record_parser(
subparsers: argparse.ArgumentParser, parent_parsers: list[argparse.ArgumentParser]
) -> argparse.ArgumentParser:
"""Setup parser for 'record' subcommand."""
parser = subparsers.add_parser(
"record",
help="Record teleoperation data",
parents=parent_parsers,
conflict_handler="resolve",
)
parser.add_argument(
"--num_envs", type=int, default=1, help="Number of environments to simulate."
)
# Teleoperation Parameters
parser.add_argument(
"--teleop_device",
type=str,
default="keyboard",
choices=["keyboard", "bi-keyboard", "so101leader", "bi-so101leader"],
help="Device for interacting with environment",
)
parser.add_argument(
"--port",
type=str,
default="/dev/ttyACM0",
help="Port for the teleop device:so101leader, default is /dev/ttyACM0",
)
parser.add_argument(
"--left_arm_port",
type=str,
default="/dev/ttyACM0",
help="Port for the left teleop device:bi-so101leader, default is /dev/ttyACM0",
)
parser.add_argument(
"--right_arm_port",
type=str,
default="/dev/ttyACM1",
help="Port for the right teleop device:bi-so101leader, default is /dev/ttyACM1",
)
parser.add_argument(
"--recalibrate",
action="store_true",
default=False,
help="recalibrate SO101-Leader or Bi-SO101Leader",
)
parser.add_argument(
"--sensitivity", type=float, default=1.0, help="Sensitivity factor."
)
# Task Configuration
parser.add_argument(
"--task",
type=str,
default="LeHome-BiSO101-Direct-Garment-v2",
help="Name of the task.",
)
parser.add_argument(
"--garment_name",
type=str,
default="Top_Long_Unseen_0",
help="Name of the garment.",
)
parser.add_argument(
"--garment_version", type=str, default="Release", help="Version of the garment."
)
parser.add_argument(
"--garment_cfg_base_path",
type=str,
default="Assets/objects/Challenge_Garment",
help="Base path of the garment configuration.",
)
parser.add_argument(
"--particle_cfg_path",
type=str,
default="source/lehome/lehome/tasks/bedroom/config_file/particle_garment_cfg.yaml",
help="Path of the particle configuration.",
)
parser.add_argument(
"--use_random_seed",
action="store_true",
default=False,
help="Use random seed for the environment.",
)
parser.add_argument(
"--seed", type=int, default=42, help="Seed for the environment."
)
parser.add_argument(
"--log_success",
action="store_true",
default=False,
help="Log success information.",
)
# Recording Parameters
parser.add_argument(
"--enable_record",
action="store_true",
default=False,
help="Enable dataset recording function",
)
parser.add_argument(
"--step_hz", type=int, default=120, help="Environment stepping rate in Hz."
)
parser.add_argument(
"--num_episode",
type=int,
default=20,
help="Maximum number of episodes to record",
)
parser.add_argument(
"--dataset_root",
type=str,
default="Datasets/record",
help="Root directory for saving recorded datasets (default: Datasets/record)",
)
parser.add_argument(
"--disable_depth",
action="store_true",
default=False,
help="Disable using top depth observation in env and dataset.",
)
parser.add_argument(
"--enable_pointcloud",
action="store_true",
default=False,
help="Whether to enable pointcloud observation in env and dataset.",
)
parser.add_argument(
"--task_description",
type=str,
default="fold the garment on the table",
help=" Description of the task to be performed.",
)
parser.add_argument(
"--record_ee_pose",
action="store_true",
default=False,
help="Record end-effector pose online (requires Pinocchio and scipy)",
)
parser.add_argument(
"--ee_urdf_path",
type=str,
default=None,
help="URDF file path (required only when using --record_ee_pose)",
)
parser.add_argument(
"--ee_state_unit",
type=str,
default="rad",
choices=["deg", "rad"],
help="Joint angle unit for kinematic solver (default: rad)",
)
return parser
def setup_replay_parser(
subparsers: argparse.ArgumentParser, parent_parsers: list[argparse.ArgumentParser]
) -> argparse.ArgumentParser:
"""Setup parser for 'replay' subcommand."""
parser = subparsers.add_parser(
"replay",
help="Replay dataset",
parents=parent_parsers,
conflict_handler="resolve",
)
parser.add_argument(
"--task",
type=str,
default="LeHome-BiSO101-Direct-Garment-v2",
help="Name of the task environment.",
)
parser.add_argument(
"--step_hz", type=int, default=60, help="Environment stepping rate in Hz."
)
parser.add_argument(
"--dataset_root",
type=str,
default="Datasets/record/example/record_top_long_release_10/001",
help="Root directory of the dataset to replay.",
)
parser.add_argument(
"--output_root",
type=str,
default=None,
help="Root directory to save replayed episodes (if None, replay only without saving).",
)
parser.add_argument(
"--num_replays",
type=int,
default=1,
help="Number of times to replay each episode.",
)
parser.add_argument(
"--save_successful_only",
action="store_true",
default=False,
help="Only save episodes that achieve success during replay.",
)
parser.add_argument(
"--start_episode",
type=int,
default=0,
help="Starting episode index (inclusive).",
)
parser.add_argument(
"--end_episode",
type=int,
default=None,
help="Ending episode index (exclusive). If None, replay all episodes.",
)
parser.add_argument(
"--task_description",
type=str,
default="fold the garment on the table",
help="Description of the task to be performed.",
)
parser.add_argument(
"--garment_version", type=str, default="Release", help="Version of the garment."
)
parser.add_argument(
"--garment_cfg_base_path",
type=str,
default="Assets/objects/Challenge_Garment",
help="Base path of the garment configuration.",
)
parser.add_argument(
"--particle_cfg_path",
type=str,
default="source/lehome/lehome/tasks/bedroom/config_file/particle_garment_cfg.yaml",
help="Path of the particle configuration.",
)
parser.add_argument(
"--use_ee_pose",
action="store_true",
default=False,
help="Use action.ee_pose (Cartesian space) control, converted to joint angles via IK.",
)
parser.add_argument(
"--ee_urdf_path",
type=str,
default="Assets/robots/so101_new_calib.urdf",
help="URDF file path (required when using --use_ee_pose).",
)
parser.add_argument(
"--ee_state_unit",
type=str,
default="rad",
choices=["deg", "rad"],
help="Joint angle unit for kinematic solver (default: rad).",
)
parser.add_argument(
"--disable_depth",
action="store_true",
default=False,
help="Disable depth observation during replay.",
)
return parser
def setup_inspect_parser(
subparsers: argparse.ArgumentParser,
) -> argparse.ArgumentParser:
"""Setup parser for 'inspect' subcommand."""
parser = subparsers.add_parser("inspect", help="Inspect dataset metadata")
parser.add_argument(
"--dataset_root", type=str, required=True, help="Dataset root directory"
)
parser.add_argument(
"--show_frames", type=int, default=None, help="Display first N frames"
)
parser.add_argument("--show_stats", action="store_true", help="Display statistics")
return parser
def setup_read_parser(subparsers: argparse.ArgumentParser) -> argparse.ArgumentParser:
"""Setup parser for 'read' subcommand."""
parser = subparsers.add_parser("read", help="Read dataset states")
parser.add_argument(
"--dataset_root", type=str, required=True, help="Dataset root directory"
)
parser.add_argument(
"--num_frames", type=int, default=None, help="Number of frames to read"
)
parser.add_argument(
"--episode", type=int, default=None, help="Specific episode index"
)
parser.add_argument("--output_csv", type=str, default=None, help="Export to CSV")
parser.add_argument("--show_stats", action="store_true", help="Display statistics")
return parser
def setup_augment_parser(
subparsers: argparse.ArgumentParser,
) -> argparse.ArgumentParser:
"""Setup parser for 'augment' subcommand."""
parser = subparsers.add_parser("augment", help="Add end-effector pose to dataset")
parser.add_argument(
"--dataset_root", type=str, required=True, help="Dataset root directory"
)
parser.add_argument("--urdf_path", type=str, required=True, help="URDF file path")
parser.add_argument(
"--state_unit",
type=str,
default="rad",
choices=["rad", "deg"],
help="Joint angle unit",
)
parser.add_argument(
"--output_root",
type=str,
default=None,
help="Output directory (default: in-place)",
)
parser.add_argument(
"--overwrite", action="store_true", help="Overwrite existing EE pose data"
)
return parser
def setup_merge_parser(subparsers: argparse.ArgumentParser) -> argparse.ArgumentParser:
"""Setup parser for 'merge' subcommand."""
parser = subparsers.add_parser("merge", help="Merge multiple datasets")
parser.add_argument(
"--source_roots",
type=str,
required=True,
help="List of source dataset directories (as Python list string)",
)
parser.add_argument(
"--output_root", type=str, required=True, help="Output dataset directory"
)
parser.add_argument(
"--output_repo_id", type=str, default="merged_dataset", help="Repository ID"
)
parser.add_argument(
"--merge_custom_meta",
action="store_true",
default=True,
help="Merge custom meta files",
)
return parser
def setup_eval_parser() -> argparse.ArgumentParser:
"""Setup parser for evaluation script.
Returns:
The parser with evaluation arguments added.
"""
parser = argparse.ArgumentParser(
description="A script for evaluating policy in lehome manipulation environments."
)
# Core arguments
parser.add_argument(
"--num_envs", type=int, default=1, help="Number of environments to simulate."
)
parser.add_argument(
"--max_steps",
type=int,
default=600,
help="Maximum number of steps per evaluation episode.",
)
parser.add_argument(
"--task",
type=str,
default="LeHome-BiSO101-Direct-Garment-v2",
help="Name of the task.",
)
parser.add_argument(
"--num_episodes",
type=int,
default=5,
help="Number of episodes to run for each garment.",
)
parser.add_argument(
"--step_hz", type=int, default=120, help="Environment stepping rate in Hz."
)
# Evaluation parameters
parser.add_argument(
"--use_random_seed",
action="store_true",
default=False,
help="Use random seed for the environment.",
)
parser.add_argument(
"--seed", type=int, default=42, help="Seed for the environment."
)
parser.add_argument(
"--garment_type",
type=str,
default="top_long",
choices=["top_long", "top_short", "pant_long", "pant_short", "custom"],
help="Type of garments to evaluate.",
)
parser.add_argument(
"--garment_cfg_base_path",
type=str,
default="Assets/objects/Challenge_Garment",
help="Base path to the garment configuration files.",
)
parser.add_argument(
"--particle_cfg_path",
type=str,
default="source/lehome/lehome/tasks/bedroom/config_file/particle_garment_cfg.yaml",
help="Path to the particle configuration file.",
)
parser.add_argument(
"--task_description",
type=str,
default="fold the garment on the table",
help="Task description for VLA models (used in complementary_data).",
)
# Record parameters
parser.add_argument(
"--save_video",
action="store_true",
help="If set, save evaluation episodes as video.",
)
parser.add_argument(
"--video_dir",
type=str,
default="outputs/eval_videos",
help="Directory to save evaluation videos.",
)
parser.add_argument(
"--save_datasets",
action="store_true",
help="If set, save evaluation episodes dataset(only success).",
)
parser.add_argument(
"--eval_dataset_path",
type=str,
default="Datasets/eval",
help="Path to save evaluation datasets.",
)
# Policy arguments for Imitation Learning (IL)
# Note: Available policy types are dynamically loaded from PolicyRegistry
parser.add_argument(
"--policy_type",
type=str,
default="lerobot",
help=(
"Type of policy to use. Available policies are registered in PolicyRegistry. "
"Built-in options: 'lerobot', 'custom'. "
"Participants can register their own policies using @PolicyRegistry.register('my_policy')."
),
)
parser.add_argument(
"--policy_path",
type=str,
default="outputs/train/diffusion_fold_1/checkpoints/100000/pretrained_model",
help="Path to the pretrained IL policy checkpoint.",
)
parser.add_argument(
"--dataset_root",
type=str,
help="Path of the train dataset (for metadata).",
)
parser.add_argument(
"--use_ee_pose",
action="store_true",
help="If set, policy outputs end-effector poses instead of joint angles. IK will be used to convert to joint angles.",
)
parser.add_argument(
"--ee_urdf_path",
type=str,
default="Assets/robots/so101_new_calib.urdf",
help="URDF path for IK solver (required when --use_ee_pose is set).",
)
return parser
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