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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_uitls/robomind_uitls.py
+5 -3
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@@ -5,7 +5,7 @@ import h5py
import numpy as np
def decode_images(camera_key, input_images):
def decode_images(camera_key, input_images, bgr2rgb: bool = False):
if "depth" not in camera_key:
rgb_images = []
camera_rgb_images = input_images
@@ -18,6 +18,8 @@ def decode_images(camera_key, input_images):
rgb = rgb.reshape(720, 1280, 3)
elif rgb.size == 921600:
rgb = rgb.reshape(480, 640, 3)
if bgr2rgb:
rgb = rgb[..., ::-1]
rgb_images.append(rgb)
rgb_images = np.asarray(rgb_images)
return rgb_images
@@ -40,7 +42,7 @@ def decode_images(camera_key, input_images):
return depth_images
def load_local_dataset(episode_path: Path, config: dict, save_depth: bool):
def load_local_dataset(episode_path: Path, config: dict, save_depth: bool, bgr2rgb: bool = False):
try:
images = {}
states = {}
@@ -53,7 +55,7 @@ def load_local_dataset(episode_path: Path, config: dict, save_depth: bool):
image_key = f"observations/rgb_images/{key}"
else:
continue
images[f"observation.images.{key}"] = decode_images(image_key, file[image_key])
images[f"observation.images.{key}"] = decode_images(image_key, file[image_key], bgr2rgb)
for key in config["states"]:
states[f"observation.states.{key}"] = np.array(file[f"puppet/{key}"], dtype=np.float32)
for key in config["actions"]: