mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-17 09:39:47 +00:00
Jade Choghari
6e86a69dcd
* more changes * working changes * more changes * more fixes * fix style * more * clean * put axis-1 * more fixes * more styling fixes: * iterate on review: * more changes * add env processor * style * more changes * add docs * fix imports * fix test, add to train * Update src/lerobot/envs/factory.py Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Signed-off-by: Jade Choghari <chogharijade@gmail.com> * iterate on review --------- Signed-off-by: Jade Choghari <chogharijade@gmail.com> Co-authored-by: jade.choghari@huggingface.co <“chogharijade@gmail.com”> Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
85 lines
2.9 KiB
Python
85 lines
2.9 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# keys
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import os
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from pathlib import Path
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from huggingface_hub.constants import HF_HOME
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OBS_STR = "observation"
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OBS_PREFIX = OBS_STR + "."
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OBS_ENV_STATE = OBS_STR + ".environment_state"
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OBS_STATE = OBS_STR + ".state"
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OBS_IMAGE = OBS_STR + ".image"
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OBS_IMAGES = OBS_IMAGE + "s"
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OBS_LANGUAGE = OBS_STR + ".language"
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OBS_LANGUAGE_TOKENS = OBS_LANGUAGE + ".tokens"
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OBS_LANGUAGE_ATTENTION_MASK = OBS_LANGUAGE + ".attention_mask"
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ACTION = "action"
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REWARD = "next.reward"
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TRUNCATED = "next.truncated"
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DONE = "next.done"
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ROBOTS = "robots"
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TELEOPERATORS = "teleoperators"
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# files & directories
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CHECKPOINTS_DIR = "checkpoints"
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LAST_CHECKPOINT_LINK = "last"
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PRETRAINED_MODEL_DIR = "pretrained_model"
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TRAINING_STATE_DIR = "training_state"
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RNG_STATE = "rng_state.safetensors"
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TRAINING_STEP = "training_step.json"
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OPTIMIZER_STATE = "optimizer_state.safetensors"
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OPTIMIZER_PARAM_GROUPS = "optimizer_param_groups.json"
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SCHEDULER_STATE = "scheduler_state.json"
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POLICY_PREPROCESSOR_DEFAULT_NAME = "policy_preprocessor"
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POLICY_POSTPROCESSOR_DEFAULT_NAME = "policy_postprocessor"
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if "LEROBOT_HOME" in os.environ:
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raise ValueError(
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f"You have a 'LEROBOT_HOME' environment variable set to '{os.getenv('LEROBOT_HOME')}'.\n"
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"'LEROBOT_HOME' is deprecated, please use 'HF_LEROBOT_HOME' instead."
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)
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# cache dir
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default_cache_path = Path(HF_HOME) / "lerobot"
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HF_LEROBOT_HOME = Path(os.getenv("HF_LEROBOT_HOME", default_cache_path)).expanduser()
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# calibration dir
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default_calibration_path = HF_LEROBOT_HOME / "calibration"
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HF_LEROBOT_CALIBRATION = Path(os.getenv("HF_LEROBOT_CALIBRATION", default_calibration_path)).expanduser()
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# streaming datasets
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LOOKBACK_BACKTRACKTABLE = 100
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LOOKAHEAD_BACKTRACKTABLE = 100
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# openpi
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OPENPI_ATTENTION_MASK_VALUE = -2.3819763e38 # TODO(pepijn): Modify this when extending support to fp8 models
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# Constants for LIBERO observation keys
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LIBERO_KEY_EEF_POS = "robot_state/eef/pos"
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LIBERO_KEY_EEF_QUAT = "robot_state/eef/quat"
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LIBERO_KEY_EEF_MAT = "robot_state/eef/mat"
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LIBERO_KEY_EEF_AXISANGLE = "robot_state/eef/axisangle"
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LIBERO_KEY_GRIPPER_QPOS = "robot_state/gripper/qpos"
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LIBERO_KEY_GRIPPER_QVEL = "robot_state/gripper/qvel"
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LIBERO_KEY_JOINTS_POS = "robot_state/joints/pos"
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LIBERO_KEY_JOINTS_VEL = "robot_state/joints/vel"
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LIBERO_KEY_PIXELS_AGENTVIEW = "pixels/agentview_image"
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LIBERO_KEY_PIXELS_EYE_IN_HAND = "pixels/robot0_eye_in_hand_image"
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