From 6eaffbef1da5d19f11d7a1578ce82df764e1fb3c Mon Sep 17 00:00:00 2001 From: Remi Date: Sun, 5 May 2024 19:13:11 +0200 Subject: [PATCH] Add 25 real world datasets (static + mobile aloha) (#133) --- lerobot/__init__.py | 28 +++++- .../_aloha_raw_urls/mobile_cabinet.txt | 85 +++++++++++++++++ .../_aloha_raw_urls/mobile_chair.txt | 55 +++++++++++ .../_aloha_raw_urls/mobile_elevator.txt | 20 ++++ .../_aloha_raw_urls/mobile_shrimp.txt | 18 ++++ .../_aloha_raw_urls/mobile_wash_pan.txt | 1 + .../_aloha_raw_urls/mobile_wipe_wine.txt | 4 + .../_aloha_raw_urls/sim_insertion_human.txt | 3 + .../sim_insertion_scripted.txt | 3 + .../sim_transfer_cube_human.txt | 3 + .../sim_transfer_cube_scripted.txt | 3 + .../_aloha_raw_urls/static_battery.txt | 2 + .../_aloha_raw_urls/static_candy.txt | 2 + .../_aloha_raw_urls/static_coffee.txt | 2 + .../_aloha_raw_urls/static_coffee_new.txt | 2 + .../_aloha_raw_urls/static_cups_open.txt | 2 + .../_aloha_raw_urls/static_fork_pick_up.txt | 53 +++++++++++ .../_aloha_raw_urls/static_pingpong_test.txt | 1 + .../_aloha_raw_urls/static_pro_pencil.txt | 1 + .../_aloha_raw_urls/static_screw_driver.txt | 2 + .../_aloha_raw_urls/static_tape.txt | 2 + .../_aloha_raw_urls/static_thread_velcro.txt | 2 + .../_aloha_raw_urls/static_towel.txt | 2 + .../_aloha_raw_urls/static_vinh_cup.txt | 53 +++++++++++ .../_aloha_raw_urls/static_vinh_cup_left.txt | 52 ++++++++++ .../_aloha_raw_urls/static_ziploc_slide.txt | 8 ++ .../push_dataset_to_hub/_download_raw.py | 95 +++++++++---------- .../push_dataset_to_hub/aloha_hdf5_format.py | 81 ++++++++++------ tests/test_available.py | 1 + 29 files changed, 502 insertions(+), 84 deletions(-) create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_cabinet.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_chair.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_elevator.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_shrimp.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_wash_pan.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_wipe_wine.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_insertion_human.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_insertion_scripted.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_transfer_cube_human.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_transfer_cube_scripted.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_battery.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_candy.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_coffee.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_coffee_new.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_cups_open.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_fork_pick_up.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_pingpong_test.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_pro_pencil.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_screw_driver.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_tape.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_thread_velcro.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_towel.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_vinh_cup.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_vinh_cup_left.txt create mode 100644 lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_ziploc_slide.txt diff --git a/lerobot/__init__.py b/lerobot/__init__.py index e11fba8b..ed8c220a 100644 --- a/lerobot/__init__.py +++ b/lerobot/__init__.py @@ -9,6 +9,7 @@ Example: print(lerobot.available_tasks_per_env) print(lerobot.available_datasets) print(lerobot.available_datasets_per_env) + print(lerobot.available_real_world_datasets) print(lerobot.available_policies) print(lerobot.available_policies_per_env) ``` @@ -55,10 +56,33 @@ available_datasets_per_env = { ], } -available_datasets_without_env = ["lerobot/umi_cup_in_the_wild"] +available_real_world_datasets = [ + "lerobot/aloha_mobile_cabinet", + "lerobot/aloha_mobile_chair", + "lerobot/aloha_mobile_elevator", + "lerobot/aloha_mobile_shrimp", + "lerobot/aloha_mobile_wash_pan", + "lerobot/aloha_mobile_wipe_wine", + "lerobot/aloha_static_battery", + "lerobot/aloha_static_candy", + "lerobot/aloha_static_coffee", + "lerobot/aloha_static_coffee_new", + "lerobot/aloha_static_cups_open", + "lerobot/aloha_static_fork_pick_up", + "lerobot/aloha_static_pingpong_test", + "lerobot/aloha_static_pro_pencil", + "lerobot/aloha_static_screw_driver", + "lerobot/aloha_static_tape", + "lerobot/aloha_static_thread_velcro", + "lerobot/aloha_static_towel", + "lerobot/aloha_static_vinh_cup", + "lerobot/aloha_static_vinh_cup_left", + "lerobot/aloha_static_ziploc_slide", + "lerobot/umi_cup_in_the_wild", +] available_datasets = list( - itertools.chain(*available_datasets_per_env.values(), available_datasets_without_env) + itertools.chain(*available_datasets_per_env.values(), available_real_world_datasets) ) # TODO(rcadene, aliberts, alexander-soare): Add real-world env with a gym API diff --git a/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_cabinet.txt 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a/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_wipe_wine.txt b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_wipe_wine.txt new file mode 100644 index 00000000..17a13f1a --- /dev/null +++ b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/mobile_wipe_wine.txt @@ -0,0 +1,4 @@ +https://drive.google.com/drive/folders/1tC_g1AJ8lglBLY-fjsQrG6DMBa3Ucp-0 +https://drive.google.com/file/d/1fG_Yi2MJrFjiUVN3XoiWXLtTxHlwwaDv/view?usp=drive_link +https://drive.google.com/file/d/1WX32VWfzzX3Blmd06DRxLwFbMJfVe7P4/view?usp=drive_link +https://drive.google.com/file/d/18onsX3vXg3xkFwP5bVUCjdV4n9TRn0C9/view?usp=drive_link diff --git a/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_insertion_human.txt b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_insertion_human.txt new file mode 100644 index 00000000..19bb7114 --- /dev/null +++ b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_insertion_human.txt @@ 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b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_transfer_cube_human.txt new file mode 100644 index 00000000..f5161ea2 --- /dev/null +++ b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_transfer_cube_human.txt @@ -0,0 +1,3 @@ +https://drive.google.com/drive/folders/1sc-E4QYW7A0o23m1u2VWNGVq5smAsfCo +https://drive.google.com/file/d/18smMymtr8tIxaNUQ61gW6dG50pt3MvGq/view?usp=drive_link +https://drive.google.com/file/d/1Nk7l53d9sJoGDBKAOnNrExX5nLacATc6/view?usp=drive_link diff --git a/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_transfer_cube_scripted.txt b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_transfer_cube_scripted.txt new file mode 100644 index 00000000..d3a5b414 --- /dev/null +++ b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/sim_transfer_cube_scripted.txt @@ -0,0 +1,3 @@ +https://drive.google.com/drive/folders/1aRyoOhQwxhyt1J8XgEig4s6kzaw__LXj 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+https://drive.google.com/file/d/1VqrJKjAIkj5gtFXL69grdSeu9CyaqnSw/view?usp=drive_link +https://drive.google.com/file/d/1g5rQYDBZvW-kUtYPeyF3qmd53v6k7kXu/view?usp=drive_link +https://drive.google.com/file/d/10kUgaSJ0TS7teaG83G3Rf_DG4XGrBt6A/view?usp=drive_link +https://drive.google.com/file/d/1je9XmneZQZvTma5adMJICUPDovW3ppei/view?usp=drive_link +https://drive.google.com/file/d/1v28r6bedwZGbUPVVTVImXhK-42XdtGfj/view?usp=drive_link +https://drive.google.com/file/d/1-TEEx9sGVvzMMaNXYfQMtY2JJ6cvl0dT/view?usp=drive_link +https://drive.google.com/file/d/1YdBKdJFP9rJWBUX7qrOYL_gfUA8o6J9M/view?usp=drive_link +https://drive.google.com/file/d/1X9vffwQHNUSKLXr2RlYNtbWDIFCIDfdF/view?usp=drive_link +https://drive.google.com/file/d/11hqesqa5kvEe5FABUnZRcvmOhR373cYM/view?usp=drive_link +https://drive.google.com/file/d/1ltTTECjEcbQPgS3UPRgMzaE2x9n6H7dC/view?usp=drive_link +https://drive.google.com/file/d/1Zxqfa29JdwT-bfMpivi6IG2vz34d21dD/view?usp=drive_link +https://drive.google.com/file/d/11LQlVxS5hz494dYUJ_PNRPx2NHIJbQns/view?usp=drive_link +https://drive.google.com/file/d/1i1JhNtnZpO_E8rAv8gxBP3ZTZRvcvsZi/view?usp=drive_link +https://drive.google.com/file/d/11jOXAr2EULUO4Qkm748634lg4UUFho5U/view?usp=drive_link +https://drive.google.com/file/d/1rj67wur8DdB_Pipwx24bY43xu4X1eQ5e/view?usp=drive_link +https://drive.google.com/file/d/15ZTm6lO6f_JQy_4SNfrOu3iPYn1Ro8mh/view?usp=drive_link +https://drive.google.com/file/d/1q4gBtqWPJtCwXEvknGgN0WHGp7Vfn1b9/view?usp=drive_link +https://drive.google.com/file/d/1t17keyre47AYqm8GgXiQ7EcvcUkeSiDQ/view?usp=drive_link +https://drive.google.com/file/d/1OYUPGxtZgOF86Ng_BEOTXm_XOYpuQPsO/view?usp=drive_link +https://drive.google.com/file/d/1cBjbGHi3dwWHtx6r9EQJi0JT_CE3LuHt/view?usp=drive_link +https://drive.google.com/file/d/14qaMyF0mcbCB-fCYKNyo5_2NahSC6D5u/view?usp=drive_link +https://drive.google.com/file/d/12FgX86eA7Y5co9ULBVK80XMsiKQSs-Ri/view?usp=drive_link +https://drive.google.com/file/d/1yvoHWidf-jdBVw6qCCXOFfkVwKj_2hPk/view?usp=drive_link +https://drive.google.com/file/d/1a2SugsSDlC8UtUrFzp-_KAwyZckQOvdQ/view?usp=drive_link +https://drive.google.com/file/d/1l8pILBFSAosypWJMza2K09Vm7rug9axm/view?usp=drive_link +https://drive.google.com/file/d/1hfPQ8dBCk97PnOhq6_MIISm3IEzcOxJG/view?usp=drive_link +https://drive.google.com/file/d/1PPAUwlJCFKpms8cqF_k1v2_fCgDBOc3S/view?usp=drive_link +https://drive.google.com/file/d/1lVKQZeqFfK3amEmLuFhYLUFQ2eyE8rOW/view?usp=drive_link +https://drive.google.com/file/d/1K9iPMLfDowcIFoyzpvgn88dQ6x6kVwNG/view?usp=drive_link +https://drive.google.com/file/d/1PNvMqG9tL7QxeLaYBGHiWYR6SYb5iIct/view?usp=drive_link +https://drive.google.com/file/d/1xkRtzbvIkUsylx9hrFLGQsJn0h1EYu-5/view?usp=drive_link +https://drive.google.com/file/d/1nxMRrJlSayjDIfr5CmHO1NzAw3COhsLi/view?usp=drive_link +https://drive.google.com/file/d/1Qs3WEyMGrmagiHIkkFEueWNnJhkUeR1s/view?usp=drive_link +https://drive.google.com/file/d/1D-G2_Q0SS3M8zyJbg_XzkF2ANPw1HTuX/view?usp=drive_link +https://drive.google.com/file/d/1mdmJsDGO-YtJAOF_yPKl6lq4PJOIbQhT/view?usp=drive_link +https://drive.google.com/file/d/11m9bwfop_sPmnQr_8amB6EEsrbAeG_z5/view?usp=drive_link +https://drive.google.com/file/d/19tyYt5FMn5kru0g9o2nMJhKPnsDqkIZv/view?usp=drive_link +https://drive.google.com/file/d/1XvTpUdsVTZ-vydvdYYmynbma--HfUGSl/view?usp=drive_link +https://drive.google.com/file/d/1MO3hFu68J6NohTzr9aB_fY02VA6QSOqj/view?usp=drive_link +https://drive.google.com/file/d/1Lh-UjwAk__04YOTWINF_QGVU8SjetVaY/view?usp=drive_link +https://drive.google.com/file/d/1jkSOUwZV5GJ7rZlVeErjcu0DBQs8Np0d/view?usp=drive_link +https://drive.google.com/file/d/1VIN1eLI-93WrVQwCjsv6XQr353DqqBYA/view?usp=drive_link diff --git a/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_ziploc_slide.txt b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_ziploc_slide.txt new file mode 100644 index 00000000..5db6ed95 --- /dev/null +++ b/lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls/static_ziploc_slide.txt @@ -0,0 +1,8 @@ +https://drive.google.com/drive/folders/1EgKar7rWBmTIRmeJYZciSwjZx3uP2mHO +https://drive.google.com/file/d/12eYWQO15atK2hBjXhynPJd9MKAj_42pz/view?usp=drive_link +https://drive.google.com/file/d/1Ul4oEeICJDjgfYTl4H1uaisTzVYIM6wd/view?usp=drive_link +https://drive.google.com/file/d/1WSF-OG8lKSe2wVYCv5D1aJNipxpgddk-/view?usp=drive_link +https://drive.google.com/file/d/1_ppD5j5sFh26aWW0JmhLzJMeNB-lCArk/view?usp=drive_link +https://drive.google.com/file/d/1WUp846dgWXYhu4oJfhHxiU6YL_7N6s4W/view?usp=drive_link +https://drive.google.com/file/d/1HRZNAIoAQw_uYiPwnBvtBioQoqiqoXdA/view?usp=drive_link +https://drive.google.com/file/d/1hedGq-QDMnIn8GlXXBC3GiEJ_Y-LTxyt/view?usp=drive_link diff --git a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py index b9183d03..d26f3d23 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py +++ b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py @@ -10,6 +10,8 @@ from pathlib import Path import tqdm +ALOHA_RAW_URLS_DIR = "lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls" + def download_raw(raw_dir, dataset_id): if "pusht" in dataset_id: @@ -87,66 +89,36 @@ def download_xarm(raw_dir: Path): def download_aloha(raw_dir: Path, dataset_id: str): - # TODO(rcadene): remove gdown and use hugging face download instead import gdown - logging.warning( - "Aloha download is broken and requires a custom version of gdown which is not limited on number of files" - ) + subset_id = dataset_id.replace("aloha_", "") + urls_path = Path(ALOHA_RAW_URLS_DIR) / f"{subset_id}.txt" + assert urls_path.exists(), f"{subset_id}.txt not found in '{ALOHA_RAW_URLS_DIR}' directory." - folder_urls = { - "aloha_sim_insertion_human": "https://drive.google.com/drive/folders/1RgyD0JgTX30H4IM5XZn8I3zSV_mr8pyF", - "aloha_sim_insertion_scripted": "https://drive.google.com/drive/folders/1TsojQQSXtHEoGnqgJ3gmpPQR2DPLtS2N", - "aloha_sim_transfer_cube_human": "https://drive.google.com/drive/folders/1sc-E4QYW7A0o23m1u2VWNGVq5smAsfCo", - "aloha_sim_transfer_cube_scripted": "https://drive.google.com/drive/folders/1aRyoOhQwxhyt1J8XgEig4s6kzaw__LXj", - } + with open(urls_path) as f: + # strip lines and ignore empty lines + urls = [url.strip() for url in f if url.strip()] - ep48_urls = { - "aloha_sim_insertion_human": "https://drive.google.com/file/d/18Cudl6nikDtgRolea7je8iF_gGKzynOP/view?usp=drive_link", - "aloha_sim_insertion_scripted": "https://drive.google.com/file/d/1wfMSZ24oOh5KR_0aaP3Cnu_c4ZCveduB/view?usp=drive_link", - "aloha_sim_transfer_cube_human": "https://drive.google.com/file/d/18smMymtr8tIxaNUQ61gW6dG50pt3MvGq/view?usp=drive_link", - "aloha_sim_transfer_cube_scripted": "https://drive.google.com/file/d/1pnGIOd-E4-rhz2P3VxpknMKRZCoKt6eI/view?usp=drive_link", - } - - ep49_urls = { - "aloha_sim_insertion_human": "https://drive.google.com/file/d/1C1kZYyROzs-PrLc0SkDgUgMi4-L3lauE/view?usp=drive_link", - "aloha_sim_insertion_scripted": "https://drive.google.com/file/d/17EuCUWS6uCCr6yyNzpXdcdE-_TTNCKtf/view?usp=drive_link", - "aloha_sim_transfer_cube_human": "https://drive.google.com/file/d/1Nk7l53d9sJoGDBKAOnNrExX5nLacATc6/view?usp=drive_link", - "aloha_sim_transfer_cube_scripted": "https://drive.google.com/file/d/1GKReZHrXU73NMiC5zKCq_UtqPVtYq8eo/view?usp=drive_link", - } - num_episodes = { # noqa: F841 # we keep this for reference - "aloha_sim_insertion_human": 50, - "aloha_sim_insertion_scripted": 50, - "aloha_sim_transfer_cube_human": 50, - "aloha_sim_transfer_cube_scripted": 50, - } - - episode_len = { # noqa: F841 # we keep this for reference - "aloha_sim_insertion_human": 500, - "aloha_sim_insertion_scripted": 400, - "aloha_sim_transfer_cube_human": 400, - "aloha_sim_transfer_cube_scripted": 400, - } - - cameras = { # noqa: F841 # we keep this for reference - "aloha_sim_insertion_human": ["top"], - "aloha_sim_insertion_scripted": ["top"], - "aloha_sim_transfer_cube_human": ["top"], - "aloha_sim_transfer_cube_scripted": ["top"], - } - - assert dataset_id in folder_urls - assert dataset_id in ep48_urls - assert dataset_id in ep49_urls + # sanity check + for url in urls: + assert ( + "drive.google.com/drive/folders" in url or "drive.google.com/file" in url + ), f"Wrong url provided '{url}' in file '{urls_path}'." raw_dir = Path(raw_dir) raw_dir.mkdir(parents=True, exist_ok=True) - gdown.download_folder(folder_urls[dataset_id], output=str(raw_dir)) + logging.info(f"Start downloading from google drive for {dataset_id}") + for url in urls: + if "drive.google.com/drive/folders" in url: + # when a folder url is given, download up to 50 files from the folder + gdown.download_folder(url, output=str(raw_dir), remaining_ok=True) - # because of the 50 files limit per directory, two files episode 48 and 49 were missing - gdown.download(ep48_urls[dataset_id], output=str(raw_dir / "episode_48.hdf5"), fuzzy=True) - gdown.download(ep49_urls[dataset_id], output=str(raw_dir / "episode_49.hdf5"), fuzzy=True) + elif "drive.google.com/file" in url: + # because of the 50 files limit per folder, we download the remaining files (file by file) + gdown.download(url, output=str(raw_dir), fuzzy=True) + + logging.info(f"End downloading from google drive for {dataset_id}") def download_umi(raw_dir: Path): @@ -166,10 +138,31 @@ if __name__ == "__main__": "xarm_lift_medium_replay", "xarm_push_medium", "xarm_push_medium_replay", + "aloha_mobile_cabinet", + "aloha_mobile_chair", + "aloha_mobile_elevator", + "aloha_mobile_shrimp", + "aloha_mobile_wash_pan", + "aloha_mobile_wipe_wine", "aloha_sim_insertion_human", "aloha_sim_insertion_scripted", "aloha_sim_transfer_cube_human", "aloha_sim_transfer_cube_scripted", + "aloha_static_battery", + "aloha_static_candy", + "aloha_static_coffee", + "aloha_static_coffee_new", + "aloha_static_cups_open", + "aloha_static_fork_pick_up", + "aloha_static_pingpong_test", + "aloha_static_pro_pencil", + "aloha_static_screw_driver", + "aloha_static_tape", + "aloha_static_thread_velcro", + "aloha_static_towel", + "aloha_static_vinh_cup", + "aloha_static_vinh_cup_left", + "aloha_static_ziploc_slide", "umi_cup_in_the_wild", ] for dataset_id in dataset_ids: diff --git a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py index db9cd036..694304f1 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py @@ -7,6 +7,7 @@ import shutil from pathlib import Path import h5py +import numpy as np import torch import tqdm from datasets import Dataset, Features, Image, Sequence, Value @@ -19,41 +20,52 @@ from lerobot.common.datasets.utils import ( from lerobot.common.datasets.video_utils import VideoFrame, encode_video_frames +def get_cameras(hdf5_data): + # ignore depth channel, not currently handled + # TODO(rcadene): add depth + rgb_cameras = [key for key in hdf5_data["/observations/images"].keys() if "depth" not in key] # noqa: SIM118 + return rgb_cameras + + def check_format(raw_dir) -> bool: - cameras = ["top"] + # only frames from simulation are uncompressed + compressed_images = "sim" not in raw_dir.name - hdf5_files: list[Path] = list(raw_dir.glob("episode_*.hdf5")) - assert len(hdf5_files) != 0 - hdf5_files = sorted(hdf5_files, key=lambda x: int(re.search(r"episode_(\d+).hdf5", x.name).group(1))) + hdf5_paths = list(raw_dir.glob("episode_*.hdf5")) + assert len(hdf5_paths) != 0 + for hdf5_path in hdf5_paths: + with h5py.File(hdf5_path, "r") as data: + assert "/action" in data + assert "/observations/qpos" in data - # Check if the sequence is consecutive eg episode_0, episode_1, episode_2, etc. - previous_number = None - for file in hdf5_files: - current_number = int(re.search(r"episode_(\d+).hdf5", file.name).group(1)) - if previous_number is not None: - assert current_number - previous_number == 1 - previous_number = current_number + assert data["/action"].ndim == 2 + assert data["/observations/qpos"].ndim == 2 - for file in hdf5_files: - with h5py.File(file, "r") as file: - # Check for the expected datasets within the HDF5 file - required_datasets = ["/action", "/observations/qpos"] - # Add camera-specific image datasets to the required datasets - camera_datasets = [f"/observations/images/{cam}" for cam in cameras] - required_datasets.extend(camera_datasets) + num_frames = data["/action"].shape[0] + assert num_frames == data["/observations/qpos"].shape[0] - assert all(dataset in file for dataset in required_datasets) + for camera in get_cameras(data): + assert num_frames == data[f"/observations/images/{camera}"].shape[0] + + if compressed_images: + assert data[f"/observations/images/{camera}"].ndim == 2 + else: + assert data[f"/observations/images/{camera}"].ndim == 4 + b, h, w, c = data[f"/observations/images/{camera}"].shape + assert c < h and c < w, f"Expect (h,w,c) image format but ({h=},{w=},{c=}) provided." def load_from_raw(raw_dir, out_dir, fps, video, debug): + # only frames from simulation are uncompressed + compressed_images = "sim" not in raw_dir.name + hdf5_files = list(raw_dir.glob("*.hdf5")) - hdf5_files = sorted(hdf5_files, key=lambda x: int(re.search(r"episode_(\d+)", x.name).group(1))) ep_dicts = [] episode_data_index = {"from": [], "to": []} id_from = 0 - for ep_path in tqdm.tqdm(hdf5_files): + for ep_path in tqdm.tqdm(hdf5_files, total=len(hdf5_files)): with h5py.File(ep_path, "r") as ep: ep_idx = int(re.search(r"episode_(\d+)", ep_path.name).group(1)) num_frames = ep["/action"].shape[0] @@ -67,10 +79,22 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug): ep_dict = {} - cameras = list(ep["/observations/images"].keys()) - for cam in cameras: - img_key = f"observation.images.{cam}" - imgs_array = ep[f"/observations/images/{cam}"][:] # b h w c + for camera in get_cameras(ep): + img_key = f"observation.images.{camera}" + + if compressed_images: + import cv2 + + # load one compressed image after the other in RAM and uncompress + imgs_array = [] + for data in ep[f"/observations/images/{camera}"]: + imgs_array.append(cv2.imdecode(data, 1)) + imgs_array = np.array(imgs_array) + + else: + # load all images in RAM + imgs_array = ep[f"/observations/images/{camera}"][:] + if video: # save png images in temporary directory tmp_imgs_dir = out_dir / "tmp_images" @@ -97,9 +121,7 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug): ep_dict["frame_index"] = torch.arange(0, num_frames, 1) ep_dict["timestamp"] = torch.arange(0, num_frames, 1) / fps ep_dict["next.done"] = done - # TODO(rcadene): compute reward and success - # ep_dict[""next.reward"] = reward - # ep_dict[""next.success"] = success + # TODO(rcadene): add reward and success by computing them in sim assert isinstance(ep_idx, int) ep_dicts.append(ep_dict) @@ -138,9 +160,6 @@ def to_hf_dataset(data_dict, video) -> Dataset: features["timestamp"] = Value(dtype="float32", id=None) features["next.done"] = Value(dtype="bool", id=None) features["index"] = Value(dtype="int64", id=None) - # TODO(rcadene): add reward and success - # features["next.reward"] = Value(dtype="float32", id=None) - # features["next.success"] = Value(dtype="bool", id=None) hf_dataset = Dataset.from_dict(data_dict, features=Features(features)) hf_dataset.set_transform(hf_transform_to_torch) diff --git a/tests/test_available.py b/tests/test_available.py index b3d0cd78..e2dfeeb9 100644 --- a/tests/test_available.py +++ b/tests/test_available.py @@ -43,5 +43,6 @@ def test_print(): print(lerobot.available_tasks_per_env) print(lerobot.available_datasets) print(lerobot.available_datasets_per_env) + print(lerobot.available_real_world_datasets) print(lerobot.available_policies) print(lerobot.available_policies_per_env)