diff --git a/lerobot/common/datasets/aloha.py b/lerobot/common/datasets/aloha.py index 2af98cd8..82989659 100644 --- a/lerobot/common/datasets/aloha.py +++ b/lerobot/common/datasets/aloha.py @@ -84,7 +84,7 @@ class AlohaExperienceReplay(AbstractExperienceReplay): def __init__( self, dataset_id: str, - version: str | None = None, + version: str | None = "v1.0", batch_size: int = None, *, shuffle: bool = True, diff --git a/tests/data/aloha_sim_insertion_human/action.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/action.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/action.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/action.memmap diff --git a/tests/data/aloha_sim_insertion_human/episode.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/episode.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/episode.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/episode.memmap diff --git a/tests/data/aloha_sim_insertion_human/frame_id.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/frame_id.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/frame_id.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/frame_id.memmap diff --git a/tests/data/aloha_sim_insertion_human/meta.json b/tests/data/aloha_sim_insertion_human/replay_buffer/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_human/meta.json rename to tests/data/aloha_sim_insertion_human/replay_buffer/meta.json diff --git a/tests/data/aloha_sim_insertion_human/next/done.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/next/done.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/next/done.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/next/done.memmap diff --git a/tests/data/aloha_sim_insertion_human/next/meta.json b/tests/data/aloha_sim_insertion_human/replay_buffer/next/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_human/next/meta.json rename to tests/data/aloha_sim_insertion_human/replay_buffer/next/meta.json diff --git a/tests/data/aloha_sim_insertion_human/next/observation/image/meta.json b/tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_human/next/observation/image/meta.json rename to tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/image/meta.json diff --git a/tests/data/aloha_sim_insertion_human/next/observation/image/top.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/next/observation/image/top.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/image/top.memmap diff --git a/tests/data/aloha_sim_insertion_human/next/observation/meta.json b/tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_human/next/observation/meta.json rename to tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/meta.json diff --git a/tests/data/aloha_sim_insertion_human/next/observation/state.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/next/observation/state.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/next/observation/state.memmap diff --git a/tests/data/aloha_sim_insertion_human/observation/image/meta.json b/tests/data/aloha_sim_insertion_human/replay_buffer/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_human/observation/image/meta.json rename to tests/data/aloha_sim_insertion_human/replay_buffer/observation/image/meta.json diff --git a/tests/data/aloha_sim_insertion_human/observation/image/top.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/observation/image/top.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/observation/image/top.memmap diff --git a/tests/data/aloha_sim_insertion_human/observation/meta.json b/tests/data/aloha_sim_insertion_human/replay_buffer/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_human/observation/meta.json rename to tests/data/aloha_sim_insertion_human/replay_buffer/observation/meta.json diff --git a/tests/data/aloha_sim_insertion_human/observation/state.memmap b/tests/data/aloha_sim_insertion_human/replay_buffer/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_human/observation/state.memmap rename to tests/data/aloha_sim_insertion_human/replay_buffer/observation/state.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/action.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/action.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/action.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/action.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/episode.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/episode.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/episode.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/episode.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/frame_id.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/frame_id.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/frame_id.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/frame_id.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/meta.json b/tests/data/aloha_sim_insertion_scripted/replay_buffer/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/meta.json rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/meta.json diff --git a/tests/data/aloha_sim_insertion_scripted/next/done.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/next/done.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/next/done.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/next/done.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/next/meta.json b/tests/data/aloha_sim_insertion_scripted/replay_buffer/next/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/next/meta.json rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/next/meta.json diff --git a/tests/data/aloha_sim_insertion_scripted/next/observation/image/meta.json b/tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/next/observation/image/meta.json rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/image/meta.json diff --git a/tests/data/aloha_sim_insertion_scripted/next/observation/image/top.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/next/observation/image/top.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/image/top.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/next/observation/meta.json b/tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/next/observation/meta.json rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/meta.json diff --git a/tests/data/aloha_sim_insertion_scripted/next/observation/state.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/next/observation/state.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/next/observation/state.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/observation/image/meta.json b/tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/observation/image/meta.json rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/image/meta.json diff --git a/tests/data/aloha_sim_insertion_scripted/observation/image/top.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/observation/image/top.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/image/top.memmap diff --git a/tests/data/aloha_sim_insertion_scripted/observation/meta.json b/tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/observation/meta.json rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/meta.json diff --git a/tests/data/aloha_sim_insertion_scripted/observation/state.memmap b/tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_insertion_scripted/observation/state.memmap rename to tests/data/aloha_sim_insertion_scripted/replay_buffer/observation/state.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/action.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/action.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/action.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/action.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/episode.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/episode.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/episode.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/episode.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/frame_id.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/frame_id.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/frame_id.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/frame_id.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/meta.json b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/meta.json rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_human/next/done.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/done.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/next/done.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/done.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/next/meta.json b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/next/meta.json rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_human/next/observation/image/meta.json b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/next/observation/image/meta.json rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/image/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_human/next/observation/image/top.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/next/observation/image/top.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/image/top.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/next/observation/meta.json b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/next/observation/meta.json rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_human/next/observation/state.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/next/observation/state.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/next/observation/state.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/observation/image/meta.json b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/observation/image/meta.json rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/image/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_human/observation/image/top.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/observation/image/top.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/image/top.memmap diff --git a/tests/data/aloha_sim_transfer_cube_human/observation/meta.json b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/observation/meta.json rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_human/observation/state.memmap b/tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_human/observation/state.memmap rename to tests/data/aloha_sim_transfer_cube_human/replay_buffer/observation/state.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/action.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/action.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/action.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/action.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/episode.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/episode.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/episode.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/episode.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/frame_id.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/frame_id.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/frame_id.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/frame_id.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/meta.json b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/meta.json rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_scripted/next/done.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/done.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/next/done.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/done.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/next/meta.json b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/next/meta.json rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_scripted/next/observation/image/meta.json b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/next/observation/image/meta.json rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/image/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_scripted/next/observation/image/top.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/next/observation/image/top.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/image/top.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/next/observation/meta.json b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/next/observation/meta.json rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_scripted/next/observation/state.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/next/observation/state.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/next/observation/state.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/observation/image/meta.json b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/image/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/observation/image/meta.json rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/image/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_scripted/observation/image/top.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/image/top.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/observation/image/top.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/image/top.memmap diff --git a/tests/data/aloha_sim_transfer_cube_scripted/observation/meta.json b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/meta.json similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/observation/meta.json rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/meta.json diff --git a/tests/data/aloha_sim_transfer_cube_scripted/observation/state.memmap b/tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/state.memmap similarity index 100% rename from tests/data/aloha_sim_transfer_cube_scripted/observation/state.memmap rename to tests/data/aloha_sim_transfer_cube_scripted/replay_buffer/observation/state.memmap