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Fix nightlies & untrack json files from git lfs (#414)

This commit is contained in:
Simon Alibert 2024-09-05 06:07:43 -07:00 committed by GitHub
parent 54ac25cfc9
commit 9d0c6fe419
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144 changed files with 3842 additions and 458 deletions
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69
.cache/calibration/aloha_default/left_follower.json
View File

@ -1 +1,68 @@
{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2015, 3058, 3061, 1071, 1071, 2035, 2152, 2029, 2499], "end_pos": [-1008, -1963, -1966, 2141, 2143, -971, 3043, -1077, 3144], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
{
"homing_offset": [
2048,
3072,
3072,
-1024,
-1024,
2048,
-2048,
2048,
-2048
],
"drive_mode": [
1,
1,
1,
0,
0,
1,
0,
1,
0
],
"start_pos": [
2015,
3058,
3061,
1071,
1071,
2035,
2152,
2029,
2499
],
"end_pos": [
-1008,
-1963,
-1966,
2141,
2143,
-971,
3043,
-1077,
3144
],
"calib_mode": [
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"LINEAR"
],
"motor_names": [
"waist",
"shoulder",
"shoulder_shadow",
"elbow",
"elbow_shadow",
"forearm_roll",
"wrist_angle",
"wrist_rotate",
"gripper"
]
}

69
.cache/calibration/aloha_default/left_leader.json
View File

@ -1 +1,68 @@
{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -1024], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2035, 3024, 3019, 979, 981, 1982, 2166, 2124, 1968], "end_pos": [-990, -2017, -2015, 2078, 2076, -1030, 3117, -1016, 2556], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
{
"homing_offset": [
2048,
3072,
3072,
-1024,
-1024,
2048,
-2048,
2048,
-1024
],
"drive_mode": [
1,
1,
1,
0,
0,
1,
0,
1,
0
],
"start_pos": [
2035,
3024,
3019,
979,
981,
1982,
2166,
2124,
1968
],
"end_pos": [
-990,
-2017,
-2015,
2078,
2076,
-1030,
3117,
-1016,
2556
],
"calib_mode": [
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"LINEAR"
],
"motor_names": [
"waist",
"shoulder",
"shoulder_shadow",
"elbow",
"elbow_shadow",
"forearm_roll",
"wrist_angle",
"wrist_rotate",
"gripper"
]
}

69
.cache/calibration/aloha_default/right_follower.json
View File

@ -1 +1,68 @@
{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2056, 2895, 2896, 1191, 1190, 2018, 2051, 2056, 2509], "end_pos": [-1040, -2004, -2006, 2126, 2127, -1010, 3050, -1117, 3143], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
{
"homing_offset": [
2048,
3072,
3072,
-1024,
-1024,
2048,
-2048,
2048,
-2048
],
"drive_mode": [
1,
1,
1,
0,
0,
1,
0,
1,
0
],
"start_pos": [
2056,
2895,
2896,
1191,
1190,
2018,
2051,
2056,
2509
],
"end_pos": [
-1040,
-2004,
-2006,
2126,
2127,
-1010,
3050,
-1117,
3143
],
"calib_mode": [
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"LINEAR"
],
"motor_names": [
"waist",
"shoulder",
"shoulder_shadow",
"elbow",
"elbow_shadow",
"forearm_roll",
"wrist_angle",
"wrist_rotate",
"gripper"
]
}

69
.cache/calibration/aloha_default/right_leader.json
View File

@ -1 +1,68 @@
{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2068, 3034, 3030, 1038, 1041, 1991, 1948, 2090, 1985], "end_pos": [-1025, -2014, -2015, 2058, 2060, -955, 3091, -940, 2576], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
{
"homing_offset": [
2048,
3072,
3072,
-1024,
-1024,
2048,
-2048,
2048,
-2048
],
"drive_mode": [
1,
1,
1,
0,
0,
1,
0,
1,
0
],
"start_pos": [
2068,
3034,
3030,
1038,
1041,
1991,
1948,
2090,
1985
],
"end_pos": [
-1025,
-2014,
-2015,
2058,
2060,
-955,
3091,
-940,
2576
],
"calib_mode": [
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"DEGREE",
"LINEAR"
],
"motor_names": [
"waist",
"shoulder",
"shoulder_shadow",
"elbow",
"elbow_shadow",
"forearm_roll",
"wrist_angle",
"wrist_rotate",
"gripper"
]
}

3
.gitattributes vendored
View File

@ -1,7 +1,6 @@
.cache/calibration/aloha_default/*.json -filter -diff -merge text
*.memmap filter=lfs diff=lfs merge=lfs -text
*.stl filter=lfs diff=lfs merge=lfs -text
*.safetensors filter=lfs diff=lfs merge=lfs -text
*.mp4 filter=lfs diff=lfs merge=lfs -text
*.arrow filter=lfs diff=lfs merge=lfs -text
*.json filter=lfs diff=lfs merge=lfs -text
*.json !text !filter !merge !diff

6
.gitignore vendored
View File

@ -66,7 +66,6 @@ htmlcov/
.nox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*.cover
@ -74,6 +73,11 @@ coverage.xml
.hypothesis/
.pytest_cache/
# Ignore .cache except calibration
.cache/*
!.cache/calibration/
!.cache/calibration/**
# Translations
*.mo
*.pot

2
examples/4_train_policy_with_script.md
View File

@ -196,7 +196,7 @@ These logs will also be saved in wandb if `wandb.enable` is set to `true`. Here
- `success`: average success rate of eval episodes. Reward and success are usually different except for the sparsing reward setting, where reward=1 only when the task is completed successfully.
- `eval_s`: time to evaluate the policy in the environment, in second.
- `updt_s`: time to update the network parameters, in second.
- `data_s`: time to load a batch of data, in second.
- `data_s`: time to load a batch of data, in second.
Some metrics are useful for initial performance profiling. For example, if you find the current GPU utilization is low via the `nvidia-smi` command and `data_s` sometimes is too high, you may need to modify batch size or number of dataloading workers to accelerate dataloading. We also recommend [pytorch profiler](https://github.com/huggingface/lerobot?tab=readme-ov-file#improve-your-code-with-profiling) for detailed performance probing.

87
lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml
View File

@ -8,7 +8,7 @@ OPENX_DATASET_CONFIGS:
- base_pose_tool_reached
- gripper_closed
fps: 3
kuka:
image_obs_keys:
- image
@ -18,7 +18,7 @@ OPENX_DATASET_CONFIGS:
- clip_function_input/base_pose_tool_reached
- gripper_closed
fps: 10
bridge_openx:
image_obs_keys:
- image
@ -28,7 +28,7 @@ OPENX_DATASET_CONFIGS:
- EEF_state
- gripper_state
fps: 5
taco_play:
image_obs_keys:
- rgb_static
@ -40,7 +40,7 @@ OPENX_DATASET_CONFIGS:
- state_eef
- state_gripper
fps: 15
jaco_play:
image_obs_keys:
- image
@ -51,7 +51,7 @@ OPENX_DATASET_CONFIGS:
- state_eef
- state_gripper
fps: 10
berkeley_cable_routing:
image_obs_keys:
- image
@ -72,7 +72,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- null
fps: 10
nyu_door_opening_surprising_effectiveness:
image_obs_keys:
- image
@ -221,7 +221,7 @@ OPENX_DATASET_CONFIGS:
image_obs_keys:
- highres_image
depth_obs_keys:
- null
- null
state_obs_keys:
- null
fps: 10
@ -234,7 +234,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- joint_state
fps: 2
ucsd_pick_and_place_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
@ -244,7 +244,7 @@ OPENX_DATASET_CONFIGS:
- eef_state
- gripper_state
fps: 3
spoc:
image_obs_keys:
- image
@ -254,7 +254,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- null
fps: 3
austin_sailor_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
@ -264,7 +264,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 20
austin_sirius_dataset_converted_externally_to_rlds:
image_obs_keys:
- image
@ -274,7 +274,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 20
bc_z:
image_obs_keys:
- image
@ -285,7 +285,7 @@ OPENX_DATASET_CONFIGS:
- present/axis_angle
- present/sensed_close
fps: 10
utokyo_pr2_opening_fridge_converted_externally_to_rlds:
image_obs_keys:
- image
@ -295,7 +295,7 @@ OPENX_DATASET_CONFIGS:
- eef_state
- gripper_state
fps: 10
utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds:
image_obs_keys:
- image
@ -305,7 +305,7 @@ OPENX_DATASET_CONFIGS:
- eef_state
- gripper_state
fps: 10
utokyo_xarm_pick_and_place_converted_externally_to_rlds:
image_obs_keys:
- image
@ -316,7 +316,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- end_effector_pose
fps: 10
utokyo_xarm_bimanual_converted_externally_to_rlds:
image_obs_keys:
- image
@ -325,7 +325,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- pose_r
fps: 10
robo_net:
image_obs_keys:
- image
@ -336,7 +336,7 @@ OPENX_DATASET_CONFIGS:
- eef_state
- gripper_state
fps: 1
robo_set:
image_obs_keys:
- image_left
@ -348,7 +348,7 @@ OPENX_DATASET_CONFIGS:
- state
- state_velocity
fps: 5
berkeley_mvp_converted_externally_to_rlds:
image_obs_keys:
- hand_image
@ -359,7 +359,7 @@ OPENX_DATASET_CONFIGS:
- pose
- joint_pos
fps: 5
berkeley_rpt_converted_externally_to_rlds:
image_obs_keys:
- hand_image
@ -369,7 +369,7 @@ OPENX_DATASET_CONFIGS:
- joint_pos
- gripper
fps: 30
kaist_nonprehensile_converted_externally_to_rlds:
image_obs_keys:
- image
@ -378,7 +378,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 10
stanford_mask_vit_converted_externally_to_rlds:
image_obs_keys:
- image
@ -387,7 +387,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- eef_state
- gripper_state
tokyo_u_lsmo_converted_externally_to_rlds:
image_obs_keys:
- image
@ -397,7 +397,7 @@ OPENX_DATASET_CONFIGS:
- eef_state
- gripper_state
fps: 10
dlr_sara_pour_converted_externally_to_rlds:
image_obs_keys:
- image
@ -406,16 +406,16 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 10
dlr_sara_grid_clamp_converted_externally_to_rlds:
image_obs_keys:
- image
depth_obs_keys:
- null
state_obs_keys:
- state
- state
fps: 10
dlr_edan_shared_control_converted_externally_to_rlds:
image_obs_keys:
- image
@ -424,7 +424,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 5
asu_table_top_converted_externally_to_rlds:
image_obs_keys:
- image
@ -478,7 +478,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- null
fps: 1
utaustin_mutex:
image_obs_keys:
- image
@ -488,7 +488,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 20
berkeley_fanuc_manipulation:
image_obs_keys:
- image
@ -499,7 +499,7 @@ OPENX_DATASET_CONFIGS:
- joint_state
- gripper_state
fps: 10
cmu_playing_with_food:
image_obs_keys:
- image
@ -509,7 +509,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 10
cmu_play_fusion:
image_obs_keys:
- image
@ -518,7 +518,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 5
cmu_stretch:
image_obs_keys:
- image
@ -528,7 +528,7 @@ OPENX_DATASET_CONFIGS:
- eef_state
- gripper_state
fps: 10
berkeley_gnm_recon:
image_obs_keys:
- image
@ -539,7 +539,7 @@ OPENX_DATASET_CONFIGS:
- position
- yaw
fps: 3
berkeley_gnm_cory_hall:
image_obs_keys:
- image
@ -550,7 +550,7 @@ OPENX_DATASET_CONFIGS:
- position
- yaw
fps: 5
berkeley_gnm_sac_son:
image_obs_keys:
- image
@ -561,7 +561,7 @@ OPENX_DATASET_CONFIGS:
- position
- yaw
fps: 10
droid:
image_obs_keys:
- exterior_image_1_left
@ -572,7 +572,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- proprio
fps: 15
droid_100:
image_obs_keys:
- exterior_image_1_left
@ -583,7 +583,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- proprio
fps: 15
fmb:
image_obs_keys:
- image_side_1
@ -598,7 +598,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- proprio
fps: 10
dobbe:
image_obs_keys:
- wrist_image
@ -607,7 +607,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- proprio
fps: 3.75
usc_cloth_sim_converted_externally_to_rlds:
image_obs_keys:
- image
@ -616,7 +616,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- null
fps: 10
plex_robosuite:
image_obs_keys:
- image
@ -626,7 +626,7 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 20
conq_hose_manipulation:
image_obs_keys:
- frontleft_fisheye_image
@ -637,4 +637,3 @@ OPENX_DATASET_CONFIGS:
state_obs_keys:
- state
fps: 30

2
lerobot/common/datasets/push_dataset_to_hub/openx_rlds_format.py
View File

@ -52,7 +52,7 @@ from lerobot.common.datasets.utils import (
)
from lerobot.common.datasets.video_utils import VideoFrame, encode_video_frames
with open("lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml", "r") as f:
with open("lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml") as f:
_openx_list = yaml.safe_load(f)
OPENX_DATASET_CONFIGS = _openx_list["OPENX_DATASET_CONFIGS"]

14
tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json
View File

@ -1,3 +1,11 @@
version https://git-lfs.github.com/spec/v1
oid sha256:50e40e4c2bb523fca0b54e9a9635281312e9c6f9d757db03c06a0865c5508f29
size 188
{
"codebase_version": "v1.6",
"fps": 50,
"video": true,
"encoding": {
"vcodec": "libsvtav1",
"pix_fmt": "yuv420p",
"g": 2,
"crf": 30
}
}

64
tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json
View File

@ -1,3 +1,61 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166
{
"citation": "",
"description": "",
"features": {
"observation.images.cam_high": {
"_type": "VideoFrame"
},
"observation.images.cam_left_wrist": {
"_type": "VideoFrame"
},
"observation.images.cam_right_wrist": {
"_type": "VideoFrame"
},
"observation.state": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"observation.effort": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"action": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"episode_index": {
"dtype": "int64",
"_type": "Value"
},
"frame_index": {
"dtype": "int64",
"_type": "Value"
},
"timestamp": {
"dtype": "float32",
"_type": "Value"
},
"next.done": {
"dtype": "bool",
"_type": "Value"
},
"index": {
"dtype": "int64",
"_type": "Value"
}
},
"homepage": "",
"license": ""
}

16
tests/data/lerobot/aloha_mobile_cabinet/train/state.json
View File

@ -1,3 +1,13 @@
version https://git-lfs.github.com/spec/v1
oid sha256:34ece24fb6b302db0b68987858509f31713fb299faa9a9d34b8fd68f10bc3100
size 247
{
"_data_files": [
{
"filename": "data-00000-of-00001.arrow"
}
],
"_fingerprint": "3e76021c95d21c4d",
"_format_columns": null,
"_format_kwargs": {},
"_format_type": null,
"_output_all_columns": false,
"_split": null
}

14
tests/data/lerobot/aloha_mobile_chair/meta_data/info.json
View File

@ -1,3 +1,11 @@
version https://git-lfs.github.com/spec/v1
oid sha256:50e40e4c2bb523fca0b54e9a9635281312e9c6f9d757db03c06a0865c5508f29
size 188
{
"codebase_version": "v1.6",
"fps": 50,
"video": true,
"encoding": {
"vcodec": "libsvtav1",
"pix_fmt": "yuv420p",
"g": 2,
"crf": 30
}
}

64
tests/data/lerobot/aloha_mobile_chair/train/dataset_info.json
View File

@ -1,3 +1,61 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166
{
"citation": "",
"description": "",
"features": {
"observation.images.cam_high": {
"_type": "VideoFrame"
},
"observation.images.cam_left_wrist": {
"_type": "VideoFrame"
},
"observation.images.cam_right_wrist": {
"_type": "VideoFrame"
},
"observation.state": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"observation.effort": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"action": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"episode_index": {
"dtype": "int64",
"_type": "Value"
},
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"dtype": "int64",
"_type": "Value"
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"dtype": "float32",
"_type": "Value"
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"dtype": "bool",
"_type": "Value"
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"_type": "Value"
}
},
"homepage": "",
"license": ""
}

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