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Pepijn
67bdf4690e
Replace the earlier wrapper (which depended on robocasa.scripts.download + dataset_registry) with a self-contained pipeline that: * downloads each task tarball directly from Box via box_links_ds.json * converts v2.1 -> v3.0 in place using convert_dataset_v21_to_v30 * standardizes camera keys under observation.images.robot0_* and flattens observation.state by concatenating base/EE/gripper subkeys when the source dataset stores them separately * builds per-rank unified shards then aggregates into one dataset Filter: composite_seen task-set restricts discovery to the 16 multi-step target tasks (DeliverStraw, GetToastedBread, ..., WashLettuce). Use --task-set=all to keep every discovered task in the split/source slice; --tasks=... overrides for arbitrary subsets. Defaults sized for hopper-cpu @ 128 cores: 16 workers x 8 cpus-per-task. Adapted from a battle-tested port_robocasa.py reference shared by the user; the only semantic addition is the task-set filter. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>