LeRobotDataset v2.1 (#711)

Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>

lerobot/common/constants.py

@@ -1,4 +1,9 @@
 # keys
+import os
+from pathlib import Path
+
+from huggingface_hub.constants import HF_HOME
+
 OBS_ENV = "observation.environment_state"
 OBS_ROBOT = "observation.state"
 OBS_IMAGE = "observation.image"
@@ -15,3 +20,13 @@ TRAINING_STEP = "training_step.json"
 OPTIMIZER_STATE = "optimizer_state.safetensors"
 OPTIMIZER_PARAM_GROUPS = "optimizer_param_groups.json"
 SCHEDULER_STATE = "scheduler_state.json"
+
+# cache dir
+default_cache_path = Path(HF_HOME) / "lerobot"
+HF_LEROBOT_HOME = Path(os.getenv("HF_LEROBOT_HOME", default_cache_path)).expanduser()
+
+if "LEROBOT_HOME" in os.environ:
+    raise ValueError(
+        f"You have a 'LEROBOT_HOME' environment variable set to '{os.getenv('LEROBOT_HOME')}'.\n"
+        "'LEROBOT_HOME' is deprecated, please use 'HF_LEROBOT_HOME' instead."
+    )