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Refactor datasets into LeRobotDataset (#91)

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-04-25 12:23:12 +02:00
committed by GitHub
parent e760e4cd63
commit 659c69a1c0
90 changed files with 167 additions and 352 deletions
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8
tests/test_visualize_dataset.py
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@@ -7,12 +7,12 @@ from .utils import DEFAULT_CONFIG_PATH
@pytest.mark.parametrize(
"dataset_id",
"repo_id",
[
"aloha_sim_insertion_human",
"lerobot/aloha_sim_insertion_human",
],
)
def test_visualize_dataset(tmpdir, dataset_id):
def test_visualize_dataset(tmpdir, repo_id):
# TODO(rcadene): this test might fail with other datasets/policies/envs, since visualization_dataset
# doesnt support multiple timesteps which requires delta_timestamps to None for images.
cfg = init_hydra_config(
@@ -20,7 +20,7 @@ def test_visualize_dataset(tmpdir, dataset_id):
overrides=[
"policy=act",
"env=aloha",
f"dataset_id={dataset_id}",
f"dataset.repo_id={repo_id}",
],
)
video_paths = visualize_dataset(cfg, out_dir=tmpdir)