First steps

First steps#

A short smoke test after a fresh install. If everything here works, continue with Running the pipeline end to end.

1. List registered environments#

python -m so101_mvbench.tools.list_envs

This is the cheapest Isaac Sim boot. It prints the registered LiftCube-* task IDs. If nothing is printed, the install is incomplete — see Installation.

2. Record one scripted episode#

No gamepad needed — --action_source sine drives a scripted motion:

python -m so101_mvbench.recording.teleop_recorder \
    --task LiftCube-Sim --action_source sine --auto_record \
    --num_episodes 1 --episode_length_s 3 --seed 42 \
    --repo_id smoke/test --repo_root datasets/smoke_test \
    --task_name 'lift the cube' --headless

Drop --headless to watch it in the Isaac Sim window. With a gamepad, use --action_source gamepad instead and drive the arm yourself (Stage 1 — Recording).

Warning

After RECORDING STOPPED appears in the log, wait for the process to exit on its own before intervening — save_episode() flushes frames on the Carb main thread, and killing it mid-flush corrupts the parquet file.

3. Inspect the recording#

rerun datasets/smoke_test/

Opens the Rerun viewer on the recorded episode: joint trajectories and camera streams. This needs rerun-sdk >= 0.31, the first version whose LeRobot loader reads v3 datasets. Expect to install it separately, because the environment that runs the pipeline tends to carry an older one (0.26 in the setup this was developed on, which cannot open a v3 dataset). Check with rerun --version.

4. Clean up#

rm -rf datasets/smoke_test

Where next#