Adds a script for recording training data from a Gym simulation and replaying in sim

lerobot/common/datasets/lerobot_dataset.py

@@ -126,8 +126,8 @@ def tolerance_s(self) -> float:
         are not close enough from the requested frames. It is only used when `delta_timestamps`
         is provided or when loading video frames from mp4 files.
         """
-        # 1e-4 to account for possible numerical error
-        return 1 / self.fps - 1e-4
+        # Add 1e-4 seconds to expected step size to account for possible numerical error
+        return 1 / self.fps + 1e-4
 
     def __len__(self):
         return self.num_samples
@@ -357,8 +357,8 @@ def tolerance_s(self) -> float:
         are not close enough from the requested frames. It is only used when `delta_timestamps`
         is provided or when loading video frames from mp4 files.
         """
-        # 1e-4 to account for possible numerical error
-        return 1 / self.fps - 1e-4
+        # Add 1e-4 seconds to expected step size to account for possible numerical error
+        return 1 / self.fps + 1e-4
 
     def __len__(self):
         return self.num_samples

lerobot/configs/env/koch_drake_leader_arm_teleop.yaml

@@ -0,0 +1,4 @@
+observation_mode: "both"
+action_mode: "joint"
+render_mode: "human"
+cube_file_path: "{ASSETS_PATH}/red_cube.sdf"

lerobot/configs/env/koch_drake_leader_arm_teleop_replay_1.yaml

@@ -0,0 +1,4 @@
+observation_mode: "both"
+action_mode: "joint"
+render_mode: "human"
+cube_file_path: "{ASSETS_PATH}/green_cube.sdf"

lerobot/configs/env/koch_drake_leader_arm_teleop_replay_2.yaml

@@ -0,0 +1,4 @@
+observation_mode: "both"
+action_mode: "joint"
+render_mode: "human"
+cube_file_path: "{ASSETS_PATH}/blue_cube.sdf"