Reproduce saved demo in simulator again

[alesspalma]

Hello, thanks for your work. Is there the possibility to exactly resimulate in the simulator a given demo generated with the default rlbench/dataset_generator.py? How to do it?

[iamstupidd]

You can set live_demos=False, and set task_env dataset_root as well, I reproduce one successful just now

[alesspalma]

@iamstupidd can you share the code?

[iamstupidd]

Simple code is,
task_env._dataset_root = "<your_path>" demo, = task_env.get_demos(amount=1, live_demos=False)
Alternative for reproduce from the very beginning,
obs_dict =task_env.reset_to_demo(demo)

[alesspalma]

@iamstupidd okay and then how to execute the loaded demo action by action?