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fix robomind channel & add dirty tasks

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Tavish
2025-06-12 09:51:26 +08:00
parent b2f9d9b8ba
commit 462a2ace0b
3 changed files with 45 additions and 7 deletions
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robomind2lerobot/robomind_h5.py
+8 -2
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@@ -272,9 +272,15 @@ def save_as_lerobot_dataset(task: tuple[dict, Path, str], src_path, benchmark, e
task_type, splits, local_dir, task_instruction = task
config = ROBOMIND_CONFIG[embodiment]
# HACK: not consistent image shape...
# HACK:
# 1. not consistent image shape...
# 2. franka and ur image is bgr...
bgr2rgb = False
if "1_0" in benchmark:
match embodiment:
case "franka_1rgb" | "franka_3rgb" | "franka_fr3_dual" | "ur_1rgb":
bgr2rgb = True
case "tienkung_gello_1rgb":
if task_type in (
"clean_table_2_241211",
@@ -322,7 +328,7 @@ def save_as_lerobot_dataset(task: tuple[dict, Path, str], src_path, benchmark, e
else:
action_config = {}
for episode_path in path.glob("**/trajectory.hdf5"):
status, raw_dataset, err = load_local_dataset(episode_path, config, save_depth)
status, raw_dataset, err = load_local_dataset(episode_path, config, save_depth, bgr2rgb)
if status and len(raw_dataset) >= 50:
for frame_data in raw_dataset:
frame_data.update({"task": task_instruction})