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Update convert_aloha_data_to_lerobot.py #723

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47 changes: 19 additions & 28 deletions examples/aloha_real/convert_aloha_data_to_lerobot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,8 @@
from typing import Literal

import h5py
from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME
from lerobot.common.constants import HF_LEROBOT_HOME
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.push_dataset_to_hub._download_raw import download_raw
import numpy as np
import torch
import tqdm
Expand All @@ -34,6 +33,7 @@ class DatasetConfig:
def create_empty_dataset(
repo_id: str,
robot_type: str,
cameras: list[str],
mode: Literal["video", "image"] = "video",
*,
has_velocity: bool = False,
Expand All @@ -56,12 +56,6 @@ def create_empty_dataset(
"left_wrist_rotate",
"left_gripper",
]
cameras = [
"cam_high",
"cam_low",
"cam_left_wrist",
"cam_right_wrist",
]

features = {
"observation.state": {
Expand Down Expand Up @@ -109,8 +103,8 @@ def create_empty_dataset(
],
}

if Path(LEROBOT_HOME / repo_id).exists():
shutil.rmtree(LEROBOT_HOME / repo_id)
if Path(HF_LEROBOT_HOME / repo_id).exists():
shutil.rmtree(HF_LEROBOT_HOME / repo_id)

return LeRobotDataset.create(
repo_id=repo_id,
Expand Down Expand Up @@ -164,6 +158,7 @@ def load_raw_images_per_camera(ep: h5py.File, cameras: list[str]) -> dict[str, n

def load_raw_episode_data(
ep_path: Path,
cameras: list[str],
) -> tuple[dict[str, np.ndarray], torch.Tensor, torch.Tensor, torch.Tensor | None, torch.Tensor | None]:
with h5py.File(ep_path, "r") as ep:
state = torch.from_numpy(ep["/observations/qpos"][:])
Expand All @@ -177,22 +172,15 @@ def load_raw_episode_data(
if "/observations/effort" in ep:
effort = torch.from_numpy(ep["/observations/effort"][:])

imgs_per_cam = load_raw_images_per_camera(
ep,
[
"cam_high",
"cam_low",
"cam_left_wrist",
"cam_right_wrist",
],
)
imgs_per_cam = load_raw_images_per_camera(ep, cameras)

return imgs_per_cam, state, action, velocity, effort


def populate_dataset(
dataset: LeRobotDataset,
hdf5_files: list[Path],
cameras: list[str],
task: str,
episodes: list[int] | None = None,
) -> LeRobotDataset:
Expand All @@ -202,13 +190,14 @@ def populate_dataset(
for ep_idx in tqdm.tqdm(episodes):
ep_path = hdf5_files[ep_idx]

imgs_per_cam, state, action, velocity, effort = load_raw_episode_data(ep_path)
imgs_per_cam, state, action, velocity, effort = load_raw_episode_data(ep_path, cameras)
num_frames = state.shape[0]

for i in range(num_frames):
frame = {
"observation.state": state[i],
"action": action[i],
"task": task,
}

for camera, img_array in imgs_per_cam.items():
Expand All @@ -221,15 +210,14 @@ def populate_dataset(

dataset.add_frame(frame)

dataset.save_episode(task=task)
dataset.save_episode()

return dataset


def port_aloha(
raw_dir: Path,
repo_id: str,
raw_repo_id: str | None = None,
task: str = "DEBUG",
*,
episodes: list[int] | None = None,
Expand All @@ -238,19 +226,22 @@ def port_aloha(
mode: Literal["video", "image"] = "image",
dataset_config: DatasetConfig = DEFAULT_DATASET_CONFIG,
):
if (LEROBOT_HOME / repo_id).exists():
shutil.rmtree(LEROBOT_HOME / repo_id)
if (HF_LEROBOT_HOME / repo_id).exists():
shutil.rmtree(HF_LEROBOT_HOME / repo_id)

if not raw_dir.exists():
if raw_repo_id is None:
raise ValueError("raw_repo_id must be provided if raw_dir does not exist")
download_raw(raw_dir, repo_id=raw_repo_id)
raise ValueError(f"Raw directory {raw_dir} does not exist. Please provide a valid path to the raw data.")

hdf5_files = sorted(raw_dir.glob("episode_*.hdf5"))

# Get camera names from the first episode
cameras = get_cameras(hdf5_files)
print(f"Detected cameras: {cameras}")

dataset = create_empty_dataset(
repo_id,
robot_type="mobile_aloha" if is_mobile else "aloha",
cameras=cameras,
mode=mode,
has_effort=has_effort(hdf5_files),
has_velocity=has_velocity(hdf5_files),
Expand All @@ -259,10 +250,10 @@ def port_aloha(
dataset = populate_dataset(
dataset,
hdf5_files,
cameras=cameras,
task=task,
episodes=episodes,
)
dataset.consolidate()

if push_to_hub:
dataset.push_to_hub()
Expand Down