69 lines
3.0 KiB
Python
69 lines
3.0 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import packaging.version
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V2_MESSAGE = """
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The dataset you requested ({repo_id}) is in {version} format.
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We introduced a new format since v2.0 which is not backward compatible with v1.x.
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Please, use our conversion script. Modify the following command with your own task description:
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```
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python lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py \\
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--repo-id {repo_id} \\
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--single-task "TASK DESCRIPTION." # <---- /!\\ Replace TASK DESCRIPTION /!\\
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```
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A few examples to replace TASK DESCRIPTION: "Pick up the blue cube and place it into the bin.", "Insert the
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peg into the socket.", "Slide open the ziploc bag.", "Take the elevator to the 1st floor.", "Open the top
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cabinet, store the pot inside it then close the cabinet.", "Push the T-shaped block onto the T-shaped
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target.", "Grab the spray paint on the shelf and place it in the bin on top of the robot dog.", "Fold the
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sweatshirt.", ...
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If you encounter a problem, contact LeRobot maintainers on [Discord](https://discord.com/invite/s3KuuzsPFb)
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or open an [issue on GitHub](https://github.com/huggingface/lerobot/issues/new/choose).
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"""
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V21_MESSAGE = """
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The dataset you requested ({repo_id}) is in {version} format.
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While current version of LeRobot is backward-compatible with it, the version of your dataset still uses global
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stats instead of per-episode stats. Update your dataset stats to the new format using this command:
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```
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python lerobot/common/datasets/v21/convert_dataset_v20_to_v21.py --repo-id={repo_id}
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```
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If you encounter a problem, contact LeRobot maintainers on [Discord](https://discord.com/invite/s3KuuzsPFb)
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or open an [issue on GitHub](https://github.com/huggingface/lerobot/issues/new/choose).
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"""
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FUTURE_MESSAGE = """
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The dataset you requested ({repo_id}) is only available in {version} format.
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As we cannot ensure forward compatibility with it, please update your current version of lerobot.
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"""
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class CompatibilityError(Exception): ...
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class BackwardCompatibilityError(CompatibilityError):
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def __init__(self, repo_id: str, version: packaging.version.Version):
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message = V2_MESSAGE.format(repo_id=repo_id, version=version)
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super().__init__(message)
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class ForwardCompatibilityError(CompatibilityError):
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def __init__(self, repo_id: str, version: packaging.version.Version):
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message = FUTURE_MESSAGE.format(repo_id=repo_id, version=version)
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super().__init__(message)
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