Merge remote-tracking branch 'origin' into user/aliberts/2024_06_13_a…

…dd_cam_capture

.github/workflows/test.yml

@@ -34,8 +34,8 @@ jobs:
         with:
           lfs: true  # Ensure LFS files are pulled
 
-      - name: Install EGL
-        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
+      - name: Install apt dependencies
+        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev ffmpeg
 
       - name: Install poetry
         run: |
@@ -72,6 +72,9 @@ jobs:
         with:
           lfs: true  # Ensure LFS files are pulled
 
+      - name: Install apt dependencies
+        run: sudo apt-get update && sudo apt-get install -y ffmpeg
+
       - name: Install poetry
         run: |
           pipx install poetry && poetry config virtualenvs.in-project true
@@ -106,7 +109,7 @@ jobs:
         with:
           lfs: true  # Ensure LFS files are pulled
 
-      - name: Install EGL
+      - name: Install apt dependencies
         run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
 
       - name: Install poetry

README.md

@@ -228,13 +228,13 @@ To add a dataset to the hub, you need to login using a write-access token, which
 huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 ```
 
-Then move your dataset folder in `data` directory (e.g. `data/aloha_static_pingpong_test`), and push your dataset to the hub with:
+Then point to your raw dataset folder (e.g. `data/aloha_static_pingpong_test_raw`), and push your dataset to the hub with:
 ```bash
 python lerobot/scripts/push_dataset_to_hub.py \
---data-dir data \
---dataset-id aloha_static_pingpong_test \
---raw-format aloha_hdf5 \
---community-id lerobot
+--raw-dir data/aloha_static_pingpong_test_raw \
+--out-dir data \
+--repo-id lerobot/aloha_static_pingpong_test \
+--raw-format aloha_hdf5
 ```
 
 See `python lerobot/scripts/push_dataset_to_hub.py --help` for more instructions.

lerobot/common/datasets/push_dataset_to_hub/_download_raw.py

@@ -14,156 +14,119 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 """
-This file contains all obsolete download scripts. They are centralized here to not have to load
-useless dependencies when using datasets.
+This file contains download scripts for raw datasets.
+
+Example of usage:
+```
+python lerobot/common/datasets/push_dataset_to_hub/_download_raw.py \
+--raw-dir data/cadene/pusht_raw \
+--repo-id cadene/pusht_raw
+```
 """
 
-import io
+import argparse
 import logging
-import shutil
+import warnings
 from pathlib import Path
 
-import tqdm
 from huggingface_hub import snapshot_download
 
 
-def download_raw(raw_dir, dataset_id):
-    if "aloha" in dataset_id or "image" in dataset_id:
-        download_hub(raw_dir, dataset_id)
-    elif "pusht" in dataset_id:
-        download_pusht(raw_dir)
-    elif "xarm" in dataset_id:
-        download_xarm(raw_dir)
-    elif "umi" in dataset_id:
-        download_umi(raw_dir)
-    else:
-        raise ValueError(dataset_id)
+def download_raw(raw_dir: Path, repo_id: str):
+    # Check repo_id is well formated
+    if len(repo_id.split("/")) != 2:
+        raise ValueError(
+            f"`repo_id` is expected to contain a community or user id `/` the name of the dataset (e.g. 'lerobot/pusht'), but contains '{repo_id}'."
+        )
+    user_id, dataset_id = repo_id.split("/")
 
-
-def download_and_extract_zip(url: str, destination_folder: Path) -> bool:
-    import zipfile
-
-    import requests
-
-    print(f"downloading from {url}")
-    response = requests.get(url, stream=True)
-    if response.status_code == 200:
-        total_size = int(response.headers.get("content-length", 0))
-        progress_bar = tqdm.tqdm(total=total_size, unit="B", unit_scale=True)
-
-        zip_file = io.BytesIO()
-        for chunk in response.iter_content(chunk_size=1024):
-            if chunk:
-                zip_file.write(chunk)
-                progress_bar.update(len(chunk))
-
-        progress_bar.close()
-
-        zip_file.seek(0)
-
-        with zipfile.ZipFile(zip_file, "r") as zip_ref:
-            zip_ref.extractall(destination_folder)
-
-
-def download_pusht(raw_dir: str):
-    pusht_url = "https://diffusion-policy.cs.columbia.edu/data/training/pusht.zip"
-
-    raw_dir = Path(raw_dir)
-    raw_dir.mkdir(parents=True, exist_ok=True)
-    download_and_extract_zip(pusht_url, raw_dir)
-    # file is created inside a useful "pusht" directory, so we move it out and delete the dir
-    zarr_path = raw_dir / "pusht_cchi_v7_replay.zarr"
-    shutil.move(raw_dir / "pusht" / "pusht_cchi_v7_replay.zarr", zarr_path)
-    shutil.rmtree(raw_dir / "pusht")
-
-
-def download_xarm(raw_dir: Path):
-    """Download all xarm datasets at once"""
-    import zipfile
-
-    import gdown
+    if not dataset_id.endswith("_raw"):
+        warnings.warn(
+            f"`dataset_id` ({dataset_id}) doesn't end with '_raw' (e.g. 'lerobot/pusht_raw'). Following this naming convention by renaming your repository is advised, but not mandatory.",
+            stacklevel=1,
+        )
 
     raw_dir = Path(raw_dir)
+    # Send warning if raw_dir isn't well formated
+    if raw_dir.parts[-2] != user_id or raw_dir.parts[-1] != dataset_id:
+        warnings.warn(
+            f"`raw_dir` ({raw_dir}) doesn't contain a community or user id `/` the name of the dataset that match the `repo_id` (e.g. 'data/lerobot/pusht_raw'). Following this naming convention is advised, but not mandatory.",
+            stacklevel=1,
+        )
     raw_dir.mkdir(parents=True, exist_ok=True)
-    # from https://github.com/fyhMer/fowm/blob/main/scripts/download_datasets.py
-    url = "https://drive.google.com/uc?id=1nhxpykGtPDhmQKm-_B8zBSywVRdgeVya"
-    zip_path = raw_dir / "data.zip"
-    gdown.download(url, str(zip_path), quiet=False)
-    print("Extracting...")
-    with zipfile.ZipFile(str(zip_path), "r") as zip_f:
-        for pkl_path in zip_f.namelist():
-            if pkl_path.startswith("data/xarm") and pkl_path.endswith(".pkl"):
-                zip_f.extract(member=pkl_path)
-                # move to corresponding raw directory
-                extract_dir = pkl_path.replace("/buffer.pkl", "")
-                raw_pkl_path = raw_dir / "buffer.pkl"
-                shutil.move(pkl_path, raw_pkl_path)
-                shutil.rmtree(extract_dir)
-    zip_path.unlink()
-
-
-def download_hub(raw_dir: Path, dataset_id: str):
-    raw_dir = Path(raw_dir)
-    raw_dir.mkdir(parents=True, exist_ok=True)
-
-    logging.info(f"Start downloading from huggingface.co/cadene for {dataset_id}")
-    snapshot_download(f"cadene/{dataset_id}_raw", repo_type="dataset", local_dir=raw_dir)
-    logging.info(f"Finish downloading from huggingface.co/cadene for {dataset_id}")
 
+    logging.info(f"Start downloading from huggingface.co/{user_id} for {dataset_id}")
+    snapshot_download(f"{repo_id}", repo_type="dataset", local_dir=raw_dir)
+    logging.info(f"Finish downloading from huggingface.co/{user_id} for {dataset_id}")
 
-def download_umi(raw_dir: Path):
-    url_cup_in_the_wild = "https://real.stanford.edu/umi/data/zarr_datasets/cup_in_the_wild.zarr.zip"
-    zarr_path = raw_dir / "cup_in_the_wild.zarr"
 
-    raw_dir = Path(raw_dir)
-    raw_dir.mkdir(parents=True, exist_ok=True)
-    download_and_extract_zip(url_cup_in_the_wild, zarr_path)
+def download_all_raw_datasets():
+    data_dir = Path("data")
+    repo_ids = [
+        "cadene/pusht_image_raw",
+        "cadene/xarm_lift_medium_image_raw",
+        "cadene/xarm_lift_medium_replay_image_raw",
+        "cadene/xarm_push_medium_image_raw",
+        "cadene/xarm_push_medium_replay_image_raw",
+        "cadene/aloha_sim_insertion_human_image_raw",
+        "cadene/aloha_sim_insertion_scripted_image_raw",
+        "cadene/aloha_sim_transfer_cube_human_image_raw",
+        "cadene/aloha_sim_transfer_cube_scripted_image_raw",
+        "cadene/pusht_raw",
+        "cadene/xarm_lift_medium_raw",
+        "cadene/xarm_lift_medium_replay_raw",
+        "cadene/xarm_push_medium_raw",
+        "cadene/xarm_push_medium_replay_raw",
+        "cadene/aloha_sim_insertion_human_raw",
+        "cadene/aloha_sim_insertion_scripted_raw",
+        "cadene/aloha_sim_transfer_cube_human_raw",
+        "cadene/aloha_sim_transfer_cube_scripted_raw",
+        "cadene/aloha_mobile_cabinet_raw",
+        "cadene/aloha_mobile_chair_raw",
+        "cadene/aloha_mobile_elevator_raw",
+        "cadene/aloha_mobile_shrimp_raw",
+        "cadene/aloha_mobile_wash_pan_raw",
+        "cadene/aloha_mobile_wipe_wine_raw",
+        "cadene/aloha_static_battery_raw",
+        "cadene/aloha_static_candy_raw",
+        "cadene/aloha_static_coffee_raw",
+        "cadene/aloha_static_coffee_new_raw",
+        "cadene/aloha_static_cups_open_raw",
+        "cadene/aloha_static_fork_pick_up_raw",
+        "cadene/aloha_static_pingpong_test_raw",
+        "cadene/aloha_static_pro_pencil_raw",
+        "cadene/aloha_static_screw_driver_raw",
+        "cadene/aloha_static_tape_raw",
+        "cadene/aloha_static_thread_velcro_raw",
+        "cadene/aloha_static_towel_raw",
+        "cadene/aloha_static_vinh_cup_raw",
+        "cadene/aloha_static_vinh_cup_left_raw",
+        "cadene/aloha_static_ziploc_slide_raw",
+        "cadene/umi_cup_in_the_wild_raw",
+    ]
+    for repo_id in repo_ids:
+        raw_dir = data_dir / repo_id
+        download_raw(raw_dir, repo_id)
+
+
+def main():
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument(
+        "--raw-dir",
+        type=Path,
+        required=True,
+        help="Directory containing input raw datasets (e.g. `data/aloha_mobile_chair_raw` or `data/pusht_raw).",
+    )
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        required=True,
+        help="Repositery identifier on Hugging Face: a community or a user name `/` the name of the dataset (e.g. `lerobot/pusht_raw`, `cadene/aloha_sim_insertion_human_raw`).",
+    )
+    args = parser.parse_args()
+    download_raw(**vars(args))
 
 
 if __name__ == "__main__":
-    data_dir = Path("data")
-    dataset_ids = [
-        "pusht_image",
-        "xarm_lift_medium_image",
-        "xarm_lift_medium_replay_image",
-        "xarm_push_medium_image",
-        "xarm_push_medium_replay_image",
-        "aloha_sim_insertion_human_image",
-        "aloha_sim_insertion_scripted_image",
-        "aloha_sim_transfer_cube_human_image",
-        "aloha_sim_transfer_cube_scripted_image",
-        "pusht",
-        "xarm_lift_medium",
-        "xarm_lift_medium_replay",
-        "xarm_push_medium",
-        "xarm_push_medium_replay",
-        "aloha_sim_insertion_human",
-        "aloha_sim_insertion_scripted",
-        "aloha_sim_transfer_cube_human",
-        "aloha_sim_transfer_cube_scripted",
-        "aloha_mobile_cabinet",
-        "aloha_mobile_chair",
-        "aloha_mobile_elevator",
-        "aloha_mobile_shrimp",
-        "aloha_mobile_wash_pan",
-        "aloha_mobile_wipe_wine",
-        "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:
-        raw_dir = data_dir / f"{dataset_id}_raw"
-        download_raw(raw_dir, dataset_id)
+    main()