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README_LEROBOT_LLM.md

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How to genereate new environment?

Step1: Download library_objects

Download object set from /al/backup/lerobot_hackathon/discoverse_meshes and /al/backup/lerobot_hackathon/discoverse_mjcfs.

Step2: Add soft link to code base

ln -s /path/to/discoverse_meshes/library_objects /path/to/DISCOVERSE/models/meshes/library_objects
ln -s /path/to/discoverse_mjcfs/library_objects /path/to/DISCOVERSE/models/mjcf/object/library_objects

Step3: How to generate environment?

python3 scripts/text_to_tasks.py

It will print the command how to run the generated environment.

This scripts currently generate 2 files to the correct place with the same file name but different extend name: .yaml: This is the task defination file. .xml: This is the task environment file.

WARNING:

Remember to clean up the models/mjcf/tmp folder. If you rerun a task config, it will look into the tmp folder first to see if the mujoco xml exist. So if you rerun a changed config file, you need to clean up the tmp to force it regenerate a mujoco xml file for the final task.