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⬆️ sync with latest lerobot (#81)

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This commit is contained in:
Qizhi Chen
2026-01-30 20:59:36 +08:00
committed by GitHub
parent 8dae4c5c56
commit b7578705ef
1 changed files with 5 additions and 1 deletions
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robomind2lerobot/robomind_h5.py
+5 -1
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@@ -9,7 +9,7 @@ import numpy as np
import pandas as pd import pandas as pd
import ray import ray
from lerobot.datasets.compute_stats import aggregate_stats from lerobot.datasets.compute_stats import aggregate_stats
from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata from lerobot.datasets.lerobot_dataset import VALID_VIDEO_CODECS, LeRobotDataset, LeRobotDatasetMetadata
from lerobot.datasets.utils import flatten_dict, validate_episode_buffer, write_info, write_stats from lerobot.datasets.utils import flatten_dict, validate_episode_buffer, write_info, write_stats
from lerobot.datasets.video_utils import get_safe_default_codec from lerobot.datasets.video_utils import get_safe_default_codec
from ray.runtime_env import RuntimeEnv from ray.runtime_env import RuntimeEnv
@@ -70,8 +70,11 @@ class RoboMINDDataset(LeRobotDataset):
image_writer_threads: int = 0, image_writer_threads: int = 0,
video_backend: str | None = None, video_backend: str | None = None,
batch_encoding_size: int = 1, batch_encoding_size: int = 1,
vcodec: str = "libsvtav1",
) -> "LeRobotDataset": ) -> "LeRobotDataset":
"""Create a LeRobot Dataset from scratch in order to record data.""" """Create a LeRobot Dataset from scratch in order to record data."""
if vcodec not in VALID_VIDEO_CODECS:
raise ValueError(f"Invalid vcodec '{vcodec}'. Must be one of: {sorted(VALID_VIDEO_CODECS)}")
obj = cls.__new__(cls) obj = cls.__new__(cls)
obj.meta = RoboMINDDatasetMetadata.create( obj.meta = RoboMINDDatasetMetadata.create(
repo_id=repo_id, repo_id=repo_id,
@@ -88,6 +91,7 @@ class RoboMINDDataset(LeRobotDataset):
obj.image_writer = None obj.image_writer = None
obj.batch_encoding_size = batch_encoding_size obj.batch_encoding_size = batch_encoding_size
obj.episodes_since_last_encoding = 0 obj.episodes_since_last_encoding = 0
obj.vcodec = vcodec
if image_writer_processes or image_writer_threads: if image_writer_processes or image_writer_threads:
obj.start_image_writer(image_writer_processes, image_writer_threads) obj.start_image_writer(image_writer_processes, image_writer_threads)