Merge remote-tracking branch 'upstream/main' into sim_latency

.github/workflows/trufflehog.yml

@@ -0,0 +1,18 @@
+on:
+  push:
+
+name: Secret Leaks
+
+permissions:
+  contents: read
+
+jobs:
+  trufflehog:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Secret Scanning
+      uses: trufflesecurity/trufflehog@main

lerobot/scripts/display_sys_info.py

@@ -13,39 +13,71 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
+"""Use this script to get a quick summary of your system config.
+It should be able to run without any of LeRobot's dependencies or LeRobot itself installed.
+"""
+
 import platform
 
-import huggingface_hub
+HAS_HF_HUB = True
+HAS_HF_DATASETS = True
+HAS_NP = True
+HAS_TORCH = True
+HAS_LEROBOT = True
 
-# import dataset
-import numpy as np
-import torch
+try:
+    import huggingface_hub
+except ImportError:
+    HAS_HF_HUB = False
 
-from lerobot import __version__ as version
+try:
+    import datasets
+except ImportError:
+    HAS_HF_DATASETS = False
 
-pt_version = torch.__version__
-pt_cuda_available = torch.cuda.is_available()
-pt_cuda_available = torch.cuda.is_available()
-cuda_version = torch._C._cuda_getCompiledVersion() if torch.version.cuda is not None else "N/A"
+try:
+    import numpy as np
+except ImportError:
+    HAS_NP = False
+
+try:
+    import torch
+except ImportError:
+    HAS_TORCH = False
+
+try:
+    import lerobot
+except ImportError:
+    HAS_LEROBOT = False
+
+
+lerobot_version = lerobot.__version__ if HAS_LEROBOT else "N/A"
+hf_hub_version = huggingface_hub.__version__ if HAS_HF_HUB else "N/A"
+hf_datasets_version = datasets.__version__ if HAS_HF_DATASETS else "N/A"
+np_version = np.__version__ if HAS_NP else "N/A"
+
+torch_version = torch.__version__ if HAS_TORCH else "N/A"
+torch_cuda_available = torch.cuda.is_available() if HAS_TORCH else "N/A"
+cuda_version = torch._C._cuda_getCompiledVersion() if HAS_TORCH and torch.version.cuda is not None else "N/A"
 
 
 # TODO(aliberts): refactor into an actual command `lerobot env`
 def display_sys_info() -> dict:
     """Run this to get basic system info to help for tracking issues & bugs."""
     info = {
-        "`lerobot` version": version,
+        "`lerobot` version": lerobot_version,
         "Platform": platform.platform(),
         "Python version": platform.python_version(),
-        "Huggingface_hub version": huggingface_hub.__version__,
-        # TODO(aliberts): Add dataset when https://github.com/huggingface/lerobot/pull/73 is merged
-        # "Dataset version": dataset.__version__,
-        "Numpy version": np.__version__,
-        "PyTorch version (GPU?)": f"{pt_version} ({pt_cuda_available})",
+        "Huggingface_hub version": hf_hub_version,
+        "Dataset version": hf_datasets_version,
+        "Numpy version": np_version,
+        "PyTorch version (GPU?)": f"{torch_version} ({torch_cuda_available})",
         "Cuda version": cuda_version,
         "Using GPU in script?": "<fill in>",
-        "Using distributed or parallel set-up in script?": "<fill in>",
+        # "Using distributed or parallel set-up in script?": "<fill in>",
     }
-    print("\nCopy-and-paste the text below in your GitHub issue and FILL OUT the two last points.\n")
+    print("\nCopy-and-paste the text below in your GitHub issue and FILL OUT the last point.\n")
     print(format_dict(info))
     return info
 

lerobot/scripts/visualize_dataset.py

@@ -106,6 +106,7 @@ def visualize_dataset(
     ws_port: int = 9087,
     save: bool = False,
     output_dir: Path | None = None,
+    root: Path | None = None,
 ) -> Path | None:
     if save:
         assert (
@@ -113,7 +114,7 @@ def visualize_dataset(
         ), "Set an output directory where to write .rrd files with `--output-dir path/to/directory`."
 
     logging.info("Loading dataset")
-    dataset = LeRobotDataset(repo_id)
+    dataset = LeRobotDataset(repo_id, root=root)
 
     logging.info("Loading dataloader")
     episode_sampler = EpisodeSampler(dataset, episode_index)
@@ -256,6 +257,12 @@ def main():
         help="Directory path to write a .rrd file when `--save 1` is set.",
     )
 
+    parser.add_argument(
+        "--root",
+        type=str,
+        help="Root directory for a dataset stored on a local machine.",
+    )
+
     args = parser.parse_args()
     visualize_dataset(**vars(args))
 

tests/test_visualize_dataset.py

@@ -13,6 +13,8 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+from pathlib import Path
+
 import pytest
 
 from lerobot.scripts.visualize_dataset import visualize_dataset
@@ -31,3 +33,20 @@ def test_visualize_dataset(tmpdir, repo_id):
         output_dir=tmpdir,
     )
     assert rrd_path.exists()
+
+
+@pytest.mark.parametrize(
+    "repo_id",
+    ["lerobot/pusht"],
+)
+@pytest.mark.parametrize("root", [Path(__file__).parent / "data"])
+def test_visualize_local_dataset(tmpdir, repo_id, root):
+    rrd_path = visualize_dataset(
+        repo_id,
+        episode_index=0,
+        batch_size=32,
+        save=True,
+        output_dir=tmpdir,
+        root=root,
+    )
+    assert rrd_path.exists()