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parametrise tolerance_s in visualize_dataset scripts (#716)

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Ermano Arruda
2025-03-13 09:28:29 +00:00
committed by GitHub
parent f994febca4
commit c37b1d45b6
2 changed files with 30 additions and 2 deletions
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14
lerobot/scripts/visualize_dataset.py
View File

@@ -265,13 +265,25 @@ def main():
), ),
) )
parser.add_argument(
"--tolerance-s",
type=float,
default=1e-4,
help=(
"Tolerance in seconds used to ensure data timestamps respect the dataset fps value"
"This is argument passed to the constructor of LeRobotDataset and maps to its tolerance_s constructor argument"
"If not given, defaults to 1e-4."
),
)
args = parser.parse_args() args = parser.parse_args()
kwargs = vars(args) kwargs = vars(args)
repo_id = kwargs.pop("repo_id") repo_id = kwargs.pop("repo_id")
root = kwargs.pop("root") root = kwargs.pop("root")
tolerance_s = kwargs.pop("tolerance_s")
logging.info("Loading dataset") logging.info("Loading dataset")
dataset = LeRobotDataset(repo_id, root=root) dataset = LeRobotDataset(repo_id, root=root, tolerance_s=tolerance_s)
visualize_dataset(dataset, **vars(args)) visualize_dataset(dataset, **vars(args))

18
lerobot/scripts/visualize_dataset_html.py
View File

@@ -446,15 +446,31 @@ def main():
help="Delete the output directory if it exists already.", help="Delete the output directory if it exists already.",
) )
parser.add_argument(
"--tolerance-s",
type=float,
default=1e-4,
help=(
"Tolerance in seconds used to ensure data timestamps respect the dataset fps value"
"This is argument passed to the constructor of LeRobotDataset and maps to its tolerance_s constructor argument"
"If not given, defaults to 1e-4."
),
)
args = parser.parse_args() args = parser.parse_args()
kwargs = vars(args) kwargs = vars(args)
repo_id = kwargs.pop("repo_id") repo_id = kwargs.pop("repo_id")
load_from_hf_hub = kwargs.pop("load_from_hf_hub") load_from_hf_hub = kwargs.pop("load_from_hf_hub")
root = kwargs.pop("root") root = kwargs.pop("root")
tolerance_s = kwargs.pop("tolerance_s")
dataset = None dataset = None
if repo_id: if repo_id:
dataset = LeRobotDataset(repo_id, root=root) if not load_from_hf_hub else get_dataset_info(repo_id) dataset = (
LeRobotDataset(repo_id, root=root, tolerance_s=tolerance_s)
if not load_from_hf_hub
else get_dataset_info(repo_id)
)
visualize_dataset_html(dataset, **vars(args)) visualize_dataset_html(dataset, **vars(args))