mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Caroline Pascal
bd9619dfc3
* chore(video backend): renaming codec into video_backend in get_safe_default_video_backend() * feat(pyav utils): adding suport for PyAV encoding parameters validation * feat(VideoEncoderConfig): creating a VideoEncoderConfig to encapsulate encoding parameters * feat(VideoEncoderConfig): propagating the VideoEncoderConfig in the codebase * chore(docs): updating the docs * feat(metadata): adding encoding parameters in dataset metadata * fix(concatenation compatibility): adding compatibility check when concatenating video files * feat(VideoEncoderConfig init): making VideoEncoderConfig more robust and adaptable to multiple backends * feat(pyav checks): making pyav parameters checks more robust * chore(duplicate): removing duplicate get_codec_options definition * test(existing): adapting existing tests * test(new): adding new tests for encoding related features * chore(format): fixing formatting issues * chore(PyAV): cleaning up PyAV utils and encoding parameters checks to stick to the minimun required tooling. * chore(format): formatting code * chore(doctrings): updating docstrings * fix(camera_encoder_config): Removing camera_encoder_config from LeRobotDataset, as it's only required in LeRobotDatasetWriter. * feat(default values): applying a consistent naming convention for default RGB cameras video encoder parameters * fix(rollout): propagating VideoEncoderConfig to the latest recording modes * chore(format): formatting code, fixing error messages and variable names * fix(arguments order): reverting changes in arguments order in StreamingVideoEncoder * chore(relative imports): switching to relative local imports within lerobot.datasets * test(artifacts): cleaning up artifacts for the video encoding tests * chore(docs): updating docs * chore(fromat): formatting code * fix(imports): refactoring the file architecture to avoid circular imports. VideoEncoderConfig is now defined in lerobot.configs and lazily imports av at runtime. * fix(typos): fixing typos and small mistakes * test(factories): updating factories * feat(aggregate): updating dataset aggregation procedure. Encoding tuning paramters (crf, g,...) are ignored for validation and changed to None in the aggregated dataset if incompatible. * docs(typos): fixing typos * fix(deletion): reverting unwanted deletion * fix(typos): fixing multiple typos * feat(codec options): passing codec options to lerobot_edit_dataset episode deletion tool * typo(typo): typo * fix(typos): fixing remaining typos * chore(rename): renaming camera_encoder_config to camera_encoder * docs(clean): cleaning and formating docs * docs(dataset): addind details about datasets * chore(format): formatting code * docs(warning): adding warning regarding encoding parameters modification * fix(re-encoding): removing inconsistent re-encoding option in lerobot_edit_dataset * typos(typos): typos * chore(format): resolving prettier issues * fix(h264_nvenc): fixing crf handling for h264_nvenc * docs(clean): removing too technical parts of the docs * fix(imports): fixing imports at the __init__ level * fix(imports): fixing not very pretty imports in video config file
51 lines
1.8 KiB
Python
51 lines
1.8 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
from lerobot.utils.constants import ACTION, HF_LEROBOT_HOME
|
|
|
|
LEROBOT_TEST_DIR = HF_LEROBOT_HOME / "_testing"
|
|
DUMMY_REPO_ID = "dummy/repo"
|
|
DUMMY_ROBOT_TYPE = "dummy_robot"
|
|
DUMMY_MOTOR_FEATURES = {
|
|
ACTION: {
|
|
"dtype": "float32",
|
|
"shape": (6,),
|
|
"names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
|
|
},
|
|
"state": {
|
|
"dtype": "float32",
|
|
"shape": (6,),
|
|
"names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
|
|
},
|
|
}
|
|
DEFAULT_FPS = 30
|
|
DUMMY_VIDEO_INFO = {
|
|
"video.fps": DEFAULT_FPS,
|
|
"video.codec": "av1",
|
|
"video.pix_fmt": "yuv420p",
|
|
"video.video_backend": "pyav",
|
|
"video.extra_options": {},
|
|
"video.g": 2,
|
|
"video.crf": 30,
|
|
"video.preset": 12,
|
|
"video.fast_decode": 0,
|
|
"video.is_depth_map": False,
|
|
"has_audio": False,
|
|
}
|
|
DUMMY_CAMERA_FEATURES = {
|
|
"laptop": {"shape": (64, 96, 3), "names": ["height", "width", "channels"], "info": DUMMY_VIDEO_INFO},
|
|
"phone": {"shape": (64, 96, 3), "names": ["height", "width", "channels"], "info": DUMMY_VIDEO_INFO},
|
|
}
|
|
DUMMY_CHW = (3, 96, 128)
|
|
DUMMY_HWC = (96, 128, 3)
|