Files
lerobot_piper/lerobot/common/utils.py
2024-03-01 14:31:54 +01:00

75 lines
1.9 KiB
Python

import io
import logging
import random
import zipfile
from datetime import datetime
from pathlib import Path
import numpy as np
import requests
import torch
import tqdm
def download_and_extract_zip(url: str, destination_folder: Path) -> bool:
print(f"downloading from {url}")
response = requests.get(url, stream=True)
if response.status_code == 200:
total_size = int(response.headers.get("content-length", 0))
progress_bar = tqdm.tqdm(total=total_size, unit="B", unit_scale=True)
zip_file = io.BytesIO()
for chunk in response.iter_content(chunk_size=1024):
if chunk:
zip_file.write(chunk)
progress_bar.update(len(chunk))
progress_bar.close()
zip_file.seek(0)
with zipfile.ZipFile(zip_file, "r") as zip_ref:
zip_ref.extractall(destination_folder)
return True
else:
return False
def set_seed(seed):
"""Set seed for reproducibility."""
random.seed(seed)
np.random.seed(seed)
torch.manual_seed(seed)
torch.cuda.manual_seed_all(seed)
def init_logging():
def custom_format(record):
dt = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
fnameline = f"{record.pathname}:{record.lineno}"
message = f"{record.levelname} {dt} {fnameline[-15:]:>15} {record.msg}"
return message
logging.basicConfig(level=logging.INFO)
for handler in logging.root.handlers[:]:
logging.root.removeHandler(handler)
formatter = logging.Formatter()
formatter.format = custom_format
console_handler = logging.StreamHandler()
console_handler.setFormatter(formatter)
logging.getLogger().addHandler(console_handler)
def format_big_number(num):
suffixes = ["", "K", "M", "B", "T", "Q"]
divisor = 1000.0
for suffix in suffixes:
if abs(num) < divisor:
return f"{num:.0f}{suffix}"
num /= divisor
return num