Play Recording

Format of the dataset to play. This is used to determine how to read the episode data.

Name of the dataset to play the episode from. If None, defaults to the last dataset recorded.

ID of the episode to play. If a dataset_name is specified but episode_id is None, plays the last episode recorded of this dataset. If dataset_name is None, this is ignored and plays the last episode recorded.

(Optional) If you recorded your data with LeRobot v2 compatible format, you can directly specifiy the path to the .parquet file of the episode to play. If specified, you don't have to pass a dataset_name or episode_id.

Smoothen the playback by interpolating between frames. 1 means no interpolation, 2 means 1 frame every 2 frames, etc. 4 is the recommended value.

Speed of the playback. 1.0 is normal speed, 0.5 is half speed, 2.0 is double speed. High speed may cause the robot to break.

If False and there are more robots than number of robots in the episode, extra robots will not move. If True, all the extras robots will replicate movements of the robots in the episode.Examples: If there are 4 robots and the episode has 2 robots, if replicate is True, robot 3 and 4 will replicate the movements of robot 1 and 2. If replicate is False, robot 3 and 4 will not move.