From 9d0c6fe419bfd4e9b0088eb4906c9676e808a537 Mon Sep 17 00:00:00 2001 From: Simon Alibert <75076266+aliberts@users.noreply.github.com> Date: Thu, 5 Sep 2024 06:07:43 -0700 Subject: [PATCH] Fix nightlies & untrack json files from git lfs (#414) --- .../aloha_default/left_follower.json | 69 ++++++++++++++- .../aloha_default/left_leader.json | 69 ++++++++++++++- .../aloha_default/right_follower.json | 69 ++++++++++++++- .../aloha_default/right_leader.json | 69 ++++++++++++++- .gitattributes | 3 +- .gitignore | 6 +- examples/4_train_policy_with_script.md | 2 +- .../push_dataset_to_hub/openx/configs.yaml | 87 +++++++++---------- .../push_dataset_to_hub/openx_rlds_format.py | 2 +- .../aloha_mobile_cabinet/meta_data/info.json | 14 ++- .../train/dataset_info.json | 64 +++++++++++++- .../aloha_mobile_cabinet/train/state.json | 16 +++- .../aloha_mobile_chair/meta_data/info.json | 14 ++- .../train/dataset_info.json | 64 +++++++++++++- .../aloha_mobile_chair/train/state.json | 16 +++- .../aloha_mobile_elevator/meta_data/info.json | 14 ++- .../train/dataset_info.json | 64 +++++++++++++- .../aloha_mobile_elevator/train/state.json | 16 +++- .../aloha_mobile_shrimp/meta_data/info.json | 14 ++- .../train/dataset_info.json | 64 +++++++++++++- .../aloha_mobile_shrimp/train/state.json | 16 +++- .../aloha_mobile_wash_pan/meta_data/info.json | 14 ++- .../train/dataset_info.json | 64 +++++++++++++- .../aloha_mobile_wash_pan/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 64 +++++++++++++- .../aloha_mobile_wipe_wine/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 50 ++++++++++- .../train/state.json | 16 +++- .../aloha_static_battery/meta_data/info.json | 14 ++- .../train/dataset_info.json | 59 ++++++++++++- .../aloha_static_battery/train/state.json | 16 +++- .../aloha_static_candy/meta_data/info.json | 14 ++- .../train/dataset_info.json | 59 ++++++++++++- .../aloha_static_candy/train/state.json | 16 +++- .../aloha_static_coffee/meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../aloha_static_coffee/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../aloha_static_coffee_new/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 59 ++++++++++++- .../aloha_static_cups_open/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../aloha_static_pro_pencil/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../train/state.json | 16 +++- .../aloha_static_tape/meta_data/info.json | 14 ++- .../aloha_static_tape/train/dataset_info.json | 59 ++++++++++++- .../aloha_static_tape/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 59 ++++++++++++- .../train/state.json | 16 +++- .../aloha_static_towel/meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../aloha_static_towel/train/state.json | 16 +++- .../aloha_static_vinh_cup/meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../aloha_static_vinh_cup/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 67 +++++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 59 ++++++++++++- .../train/state.json | 16 +++- tests/data/lerobot/pusht/meta_data/info.json | 14 ++- .../lerobot/pusht/train/dataset_info.json | 58 ++++++++++++- tests/data/lerobot/pusht/train/state.json | 16 +++- .../lerobot/pusht_image/meta_data/info.json | 8 +- .../pusht_image/train/dataset_info.json | 58 ++++++++++++- .../data/lerobot/pusht_image/train/state.json | 16 +++- .../pusht_keypoints/meta_data/info.json | 8 +- .../pusht_keypoints/train/dataset_info.json | 63 +++++++++++++- .../lerobot/pusht_keypoints/train/state.json | 16 +++- .../umi_cup_in_the_wild/meta_data/info.json | 14 ++- .../train/dataset_info.json | 70 ++++++++++++++- .../umi_cup_in_the_wild/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 53 ++++++++++- .../unitreeh1_fold_clothes/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 53 ++++++++++- .../train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 53 ++++++++++- .../train/state.json | 16 +++- .../unitreeh1_warehouse/meta_data/info.json | 14 ++- .../train/dataset_info.json | 53 ++++++++++- .../unitreeh1_warehouse/train/state.json | 16 +++- .../xarm_lift_medium/meta_data/info.json | 14 ++- .../xarm_lift_medium/train/dataset_info.json | 54 +++++++++++- .../lerobot/xarm_lift_medium/train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 54 +++++++++++- .../xarm_lift_medium_image/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 54 +++++++++++- .../xarm_lift_medium_replay/train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 54 +++++++++++- .../train/state.json | 16 +++- .../xarm_push_medium/meta_data/info.json | 14 ++- .../xarm_push_medium/train/dataset_info.json | 54 +++++++++++- .../lerobot/xarm_push_medium/train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 54 +++++++++++- .../xarm_push_medium_image/train/state.json | 16 +++- .../meta_data/info.json | 14 ++- .../train/dataset_info.json | 54 +++++++++++- .../xarm_push_medium_replay/train/state.json | 16 +++- .../meta_data/info.json | 8 +- .../train/dataset_info.json | 54 +++++++++++- .../train/state.json | 16 +++- 144 files changed, 3842 insertions(+), 458 deletions(-) diff --git a/.cache/calibration/aloha_default/left_follower.json b/.cache/calibration/aloha_default/left_follower.json index 8521f4d4..336c238a 100644 --- a/.cache/calibration/aloha_default/left_follower.json +++ b/.cache/calibration/aloha_default/left_follower.json @@ -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" + ] +} diff --git a/.cache/calibration/aloha_default/left_leader.json b/.cache/calibration/aloha_default/left_leader.json index 9599dfbb..d933f2ba 100644 --- a/.cache/calibration/aloha_default/left_leader.json +++ b/.cache/calibration/aloha_default/left_leader.json @@ -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" + ] +} diff --git a/.cache/calibration/aloha_default/right_follower.json b/.cache/calibration/aloha_default/right_follower.json index f460ef4b..bc69dfaf 100644 --- a/.cache/calibration/aloha_default/right_follower.json +++ b/.cache/calibration/aloha_default/right_follower.json @@ -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" + ] +} diff --git a/.cache/calibration/aloha_default/right_leader.json b/.cache/calibration/aloha_default/right_leader.json index 2c41c40c..d96d1de9 100644 --- a/.cache/calibration/aloha_default/right_leader.json +++ b/.cache/calibration/aloha_default/right_leader.json @@ -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" + ] +} diff --git a/.gitattributes b/.gitattributes index f3e1f116..7da36424 100644 --- a/.gitattributes +++ b/.gitattributes @@ -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 diff --git a/.gitignore b/.gitignore index 096cfb50..0e203a39 100644 --- a/.gitignore +++ b/.gitignore @@ -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 diff --git a/examples/4_train_policy_with_script.md b/examples/4_train_policy_with_script.md index 05c865dc..2e443d57 100644 --- a/examples/4_train_policy_with_script.md +++ b/examples/4_train_policy_with_script.md @@ -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. diff --git a/lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml b/lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml index 9bbc4649..f706270a 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml +++ b/lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml @@ -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 - \ No newline at end of file diff --git a/lerobot/common/datasets/push_dataset_to_hub/openx_rlds_format.py b/lerobot/common/datasets/push_dataset_to_hub/openx_rlds_format.py index b925fedd..f5744c52 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/openx_rlds_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/openx_rlds_format.py @@ -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"] diff --git a/tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json index 75ba0034..73d51a20 100644 --- a/tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json +++ b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json @@ -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 + } +} \ No newline at end of file diff --git a/tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json b/tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json index 55b885b6..76df9e36 100644 --- a/tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json +++ 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