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lerobot
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Merge remote-tracking branch 'origin/main' into user/aliberts/2024_09_25_reshape_dataset

This commit is contained in:
Simon Alibert 2024-11-25 17:43:58 +01:00
parent 23f6c875b5 975c1c25c3
commit 3b5af7eb38
2 changed files with 25 additions and 11 deletions
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12
lerobot/common/robot_devices/control_utils.py
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@ -328,9 +328,17 @@ def sanity_check_dataset_name(repo_id, policy):
_, dataset_name = repo_id.split("/") _, dataset_name = repo_id.split("/")
# either repo_id doesnt start with "eval_" and there is no policy # either repo_id doesnt start with "eval_" and there is no policy
# or repo_id starts with "eval_" and there is a policy # or repo_id starts with "eval_" and there is a policy
if dataset_name.startswith("eval_") == (policy is None):
# Check if dataset_name starts with "eval_" but policy is missing
if dataset_name.startswith("eval_") and policy is None:
raise ValueError( raise ValueError(
f"Your dataset name begins by 'eval_' ({dataset_name}) but no policy is provided ({policy})." f"Your dataset name begins with 'eval_' ({dataset_name}), but no policy is provided."
)
# Check if dataset_name does not start with "eval_" but policy is provided
if not dataset_name.startswith("eval_") and policy is not None:
raise ValueError(
f"Your dataset name does not begin with 'eval_' ({dataset_name}), but a policy is provided ({policy})."
) )

24
lerobot/scripts/find_motors_bus_port.py
View File

@ -1,30 +1,36 @@
import os
import time import time
from pathlib import Path from pathlib import Path
from serial.tools import list_ports # Part of pyserial library
def find_available_ports(): def find_available_ports():
ports = [] if os.name == "nt": # Windows
for path in Path("/dev").glob("tty*"): # List COM ports using pyserial
ports.append(str(path)) ports = [port.device for port in list_ports.comports()]
else: # Linux/macOS
# List /dev/tty* ports for Unix-based systems
ports = [str(path) for path in Path("/dev").glob("tty*")]
return ports return ports
def find_port(): def find_port():
print("Finding all available ports for the MotorsBus.") print("Finding all available ports for the MotorsBus.")
ports_before = find_available_ports() ports_before = find_available_ports()
print(ports_before) print("Ports before disconnecting:", ports_before)
print("Remove the usb cable from your MotorsBus and press Enter when done.") print("Remove the USB cable from your MotorsBus and press Enter when done.")
input() input() # Wait for user to disconnect the device
time.sleep(0.5) time.sleep(0.5) # Allow some time for port to be released
ports_after = find_available_ports() ports_after = find_available_ports()
ports_diff = list(set(ports_before) - set(ports_after)) ports_diff = list(set(ports_before) - set(ports_after))
if len(ports_diff) == 1: if len(ports_diff) == 1:
port = ports_diff[0] port = ports_diff[0]
print(f"The port of this MotorsBus is '{port}'") print(f"The port of this MotorsBus is '{port}'")
print("Reconnect the usb cable.") print("Reconnect the USB cable.")
elif len(ports_diff) == 0: elif len(ports_diff) == 0:
raise OSError(f"Could not detect the port. No difference was found ({ports_diff}).") raise OSError(f"Could not detect the port. No difference was found ({ports_diff}).")
else: else:
@ -32,5 +38,5 @@ def find_port():
if __name__ == "__main__": if __name__ == "__main__":
# Helper to find the usb port associated to all your MotorsBus. # Helper to find the USB port associated with your MotorsBus.
find_port() find_port()