Merge fa7e40a4a5 into 78fd1a1e04

README.md

@@ -98,14 +98,18 @@ conda create -y -n lerobot python=3.10
 conda activate lerobot
 ```
 
-Install 🤗 LeRobot:
+When using `miniconda`, if you don't have `fffmpeg` in your environment:
 ```bash
-pip install -e .
+conda install ffmpeg
 ```
 
-> **NOTE:** Depending on your platform, If you encounter any build errors during this step
-you may need to install `cmake` and `build-essential` for building some of our dependencies.
-On linux: `sudo apt-get install cmake build-essential`
+Install 🤗 LeRobot:
+```bash
+pip install --no-binary=av -e .
+```
+
+> **NOTE:** If you encounter build errors, you may need to install additional dependencies (`cmake`, `build-essential`, and `ffmpeg libs`). On Linux, run:
+`sudo apt-get install cmake build-essential python-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev pkg-config`. For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg)
 
 For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
 - [aloha](https://github.com/huggingface/gym-aloha)
@@ -114,7 +118,7 @@ For simulations, 🤗 LeRobot comes with gymnasium environments that can be inst
 
 For instance, to install 🤗 LeRobot with aloha and pusht, use:
 ```bash
-pip install -e ".[aloha, pusht]"
+pip install --no-binary=av -e ".[aloha, pusht]"
 ```
 
 To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with

examples/10_use_so100.md

@@ -59,7 +59,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 #### 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.

examples/11_use_lekiwi.md

@@ -69,7 +69,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 #### 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 ## C. Install LeRobot on laptop
@@ -110,7 +110,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 #### 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms and Mobile base :robot:.

examples/11_use_moss.md

@@ -33,7 +33,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 5. Install LeRobot with dependencies for the feetech motors:
 ```bash
-cd ~/lerobot && pip install -e ".[feetech]"
+cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
 ```
 
 ## Configure the motors

examples/2_evaluate_pretrained_policy.py

@@ -18,7 +18,7 @@ training outputs directory. In the latter case, you might want to run examples/3
 
 It requires the installation of the 'gym_pusht' simulation environment. Install it by running:
 ```bash
-pip install -e ".[pusht]"`
+pip install --no-binary=av -e ".[pusht]"`
 ```
 """
 

examples/7_get_started_with_real_robot.md

@@ -33,7 +33,7 @@ First, install the additional dependencies required for robots built with dynami
 
 Using `pip`:
 ```bash
-pip install -e ".[dynamixel]"
+pip install --no-binary=av -e ".[dynamixel]"
 ```
 
 Using `poetry`:

examples/8_use_stretch.md

@@ -45,7 +45,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 6. Install LeRobot with stretch dependencies:
 ```bash
-cd ~/lerobot && pip install -e ".[stretch]"
+cd ~/lerobot && pip install --no-binary=av -e ".[stretch]"
 ```
 
 > **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.`

examples/9_use_aloha.md

@@ -32,7 +32,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
 ```bash
-cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]"
+cd ~/lerobot && pip install --no-binary=av -e ".[dynamixel, intelrealsense]"
 ```
 
 ## Teleoperate

lerobot/common/policies/pi0/modeling_pi0.py

@@ -24,7 +24,7 @@ Designed by Physical Intelligence. Ported from Jax by Hugging Face.
 
 Install pi0 extra dependencies:
 ```bash
-pip install -e ".[pi0]"
+pip install --no-binary=av -e ".[pi0]"
 ```
 
 Example of finetuning the pi0 pretrained model (`pi0_base` in `openpi`):

lerobot/scripts/edit_dataset.py

@@ -0,0 +1,132 @@
+"""
+Edit your dataset in-place.
+
+Example of usage:
+```bash
+python lerobot/scripts/edit_dataset.py remove \
+    --root data \
+    --repo-id cadene/koch_bimanual_folding_2 \
+    --episodes 0 4 7 10 34 54 69
+```
+"""
+
+import argparse
+import shutil
+from pathlib import Path
+
+import torch
+
+from lerobot.common.datasets.compute_stats import compute_stats
+from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset
+from lerobot.common.datasets.utils import calculate_episode_data_index, create_branch
+from lerobot.scripts.push_dataset_to_hub import (
+    push_dataset_card_to_hub,
+    push_meta_data_to_hub,
+    push_videos_to_hub,
+    save_meta_data,
+)
+
+
+def remove_episodes(dataset, episodes):
+    if not dataset.video:
+        raise NotImplementedError()
+
+    repo_id = dataset.repo_id
+    info = dataset.info
+    hf_dataset = dataset.hf_dataset
+    # TODO(rcadene): implement tags
+    # if None, should use the same tags
+    tags = None
+
+    local_dir = dataset.videos_dir.parent
+    train_dir = local_dir / "train"
+    new_train_dir = local_dir / "new_train"
+    meta_data_dir = local_dir / "meta_data"
+
+    new_hf_dataset = hf_dataset.filter(lambda row: row["episode_index"] not in episodes)
+
+    unique_episode_idxs = torch.stack(new_hf_dataset["episode_index"]).unique().tolist()
+
+    episode_idx_to_reset_idx_mapping = {}
+    for new_ep_idx, ep_idx in enumerate(sorted(unique_episode_idxs)):
+        episode_idx_to_reset_idx_mapping[ep_idx] = new_ep_idx
+
+        for key in dataset.video_frame_keys:
+            path = dataset.videos_dir / f"{key}_episode_{ep_idx:06d}.mp4"
+            new_path = dataset.videos_dir / f"{key}_episode_{new_ep_idx:06d}.mp4"
+            path.rename(new_path)
+
+    def modify_ep_idx(row):
+        new_ep_idx = episode_idx_to_reset_idx_mapping[row["episode_index"].item()]
+
+        for key in dataset.video_frame_keys:
+            fname = f"{key}_episode_{new_ep_idx:06d}.mp4"
+            row[key]["path"] = f"videos/{fname}"
+
+        row["episode_index"] = new_ep_idx
+        return row
+
+    new_hf_dataset = new_hf_dataset.map(modify_ep_idx)
+
+    episode_data_index = calculate_episode_data_index(new_hf_dataset)
+
+    new_dataset = LeRobotDataset.from_preloaded(
+        repo_id=dataset.repo_id,
+        hf_dataset=new_hf_dataset,
+        episode_data_index=episode_data_index,
+        info=info,
+        videos_dir=dataset.videos_dir,
+    )
+    stats = compute_stats(new_dataset)
+
+    new_hf_dataset = new_hf_dataset.with_format(None)  # to remove transforms that cant be saved
+
+    new_hf_dataset.save_to_disk(str(new_train_dir))
+    shutil.rmtree(train_dir)
+    new_train_dir.rename(train_dir)
+
+    save_meta_data(info, stats, episode_data_index, meta_data_dir)
+
+    new_hf_dataset.push_to_hub(repo_id, revision="main")
+    push_meta_data_to_hub(repo_id, meta_data_dir, revision="main")
+    push_dataset_card_to_hub(repo_id, revision="main", tags=tags)
+    if dataset.video:
+        push_videos_to_hub(repo_id, dataset.videos_dir, revision="main")
+    create_branch(repo_id, repo_type="dataset", branch=CODEBASE_VERSION)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    subparsers = parser.add_subparsers(dest="mode", required=True)
+
+    # Set common options for all the subparsers
+    base_parser = argparse.ArgumentParser(add_help=False)
+    base_parser.add_argument(
+        "--root",
+        type=Path,
+        default="data",
+        help="Root directory where the dataset will be stored locally at '{root}/{repo_id}' (e.g. 'data/hf_username/dataset_name').",
+    )
+    base_parser.add_argument(
+        "--repo-id",
+        type=str,
+        default="lerobot/test",
+        help="Dataset identifier. By convention it should match '{hf_username}/{dataset_name}' (e.g. `lerobot/test`).",
+    )
+
+    remove_calib = subparsers.add_parser("remove", parents=[base_parser])
+    remove_calib.add_argument(
+        "--episodes",
+        type=int,
+        nargs="+",
+        help="Episode indices to remove (e.g. `0 1 5 6`).",
+    )
+
+    args = parser.parse_args()
+
+    input("It is recommended to make a copy of your dataset before modifying it. Press enter to continue.")
+
+    dataset = LeRobotDataset(args.repo_id, root=args.root)
+
+    if args.mode == "remove":
+        remove_episodes(dataset, args.episodes)