Dataset v2.0 (#461)

Co-authored-by: Remi <remi.cadene@huggingface.co>

lerobot/scripts/visualize_dataset.py

@@ -100,7 +100,7 @@ def to_hwc_uint8_numpy(chw_float32_torch: torch.Tensor) -> np.ndarray:
 
 
 def visualize_dataset(
-    repo_id: str,
+    dataset: LeRobotDataset,
     episode_index: int,
     batch_size: int = 32,
     num_workers: int = 0,
@@ -108,7 +108,6 @@ def visualize_dataset(
     web_port: int = 9090,
     ws_port: int = 9087,
     save: bool = False,
-    root: Path | None = None,
     output_dir: Path | None = None,
 ) -> Path | None:
     if save:
@@ -116,8 +115,7 @@ def visualize_dataset(
             output_dir is not None
         ), "Set an output directory where to write .rrd files with `--output-dir path/to/directory`."
 
-    logging.info("Loading dataset")
-    dataset = LeRobotDataset(repo_id, root=root)
+    repo_id = dataset.repo_id
 
     logging.info("Loading dataloader")
     episode_sampler = EpisodeSampler(dataset, episode_index)
@@ -153,7 +151,7 @@ def visualize_dataset(
             rr.set_time_seconds("timestamp", batch["timestamp"][i].item())
 
             # display each camera image
-            for key in dataset.camera_keys:
+            for key in dataset.meta.camera_keys:
                 # TODO(rcadene): add `.compress()`? is it lossless?
                 rr.log(key, rr.Image(to_hwc_uint8_numpy(batch[key][i])))
 
@@ -209,11 +207,17 @@ def main():
         required=True,
         help="Episode to visualize.",
     )
+    parser.add_argument(
+        "--local-files-only",
+        type=int,
+        default=0,
+        help="Use local files only. By default, this script will try to fetch the dataset from the hub if it exists.",
+    )
     parser.add_argument(
         "--root",
         type=Path,
         default=None,
-        help="Root directory for a dataset stored locally (e.g. `--root data`). By default, the dataset will be loaded from hugging face cache folder, or downloaded from the hub if available.",
+        help="Root directory for the dataset stored locally (e.g. `--root data`). By default, the dataset will be loaded from hugging face cache folder, or downloaded from the hub if available.",
     )
     parser.add_argument(
         "--output-dir",
@@ -268,7 +272,15 @@ def main():
     )
 
     args = parser.parse_args()
-    visualize_dataset(**vars(args))
+    kwargs = vars(args)
+    repo_id = kwargs.pop("repo_id")
+    root = kwargs.pop("root")
+    local_files_only = kwargs.pop("local_files_only")
+
+    logging.info("Loading dataset")
+    dataset = LeRobotDataset(repo_id, root=root, local_files_only=local_files_only)
+
+    visualize_dataset(dataset, **vars(args))
 
 
 if __name__ == "__main__":