How to record
Give the follower a path and it records while you drive.record= out and call the methods
directly.
Both sides can record. Everything above works the same on a
Leader, which is useful when the
person driving is not on the same machine as the arm.
Recording never touches the control path. Control keeps only what it needs
and discards the rest, which is right for moving a robot and wrong for a
dataset.
Episodes
An episode is one demonstration. By default the deadman marks the boundary: squeeze to start, release to end.success is True, False, or None for not judged, so you can decide later
whether failures are noise or negative examples.
Where it is kept
On the robot. The path you passed. The follower already holds the commanded value, the value read back and the camera frames, so nothing is lost and every timestamp comes from one machine. In Torq Cloud. The same episodes are kept for you, so a session becomes a training dataset without moving files off the robot, stitching sessions together, or managing storage yourself.Export
- Local
- Torq Cloud
--dry-run reports the row count, the measured frame rate and how many rows
were joined by number rather than guessed, so you can check a session before
spending time on it.Add --explicit-only to drop guessed rows entirely.Related
Recording and export
Every method, field and export flag.
Sync
Matching video to joint readings.
Types
Every id and what creates it.
Stats
Checking how well a session was recorded.