Fix nightlies & untrack json files from git lfs (#414)

.cache/calibration/aloha_default/left_follower.json

@@ -1 +1,68 @@
-{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2015, 3058, 3061, 1071, 1071, 2035, 2152, 2029, 2499], "end_pos": [-1008, -1963, -1966, 2141, 2143, -971, 3043, -1077, 3144], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
+{
+    "homing_offset": [
+        2048,
+        3072,
+        3072,
+        -1024,
+        -1024,
+        2048,
+        -2048,
+        2048,
+        -2048
+    ],
+    "drive_mode": [
+        1,
+        1,
+        1,
+        0,
+        0,
+        1,
+        0,
+        1,
+        0
+    ],
+    "start_pos": [
+        2015,
+        3058,
+        3061,
+        1071,
+        1071,
+        2035,
+        2152,
+        2029,
+        2499
+    ],
+    "end_pos": [
+        -1008,
+        -1963,
+        -1966,
+        2141,
+        2143,
+        -971,
+        3043,
+        -1077,
+        3144
+    ],
+    "calib_mode": [
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "LINEAR"
+    ],
+    "motor_names": [
+        "waist",
+        "shoulder",
+        "shoulder_shadow",
+        "elbow",
+        "elbow_shadow",
+        "forearm_roll",
+        "wrist_angle",
+        "wrist_rotate",
+        "gripper"
+    ]
+}

.cache/calibration/aloha_default/left_leader.json

@@ -1 +1,68 @@
-{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -1024], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2035, 3024, 3019, 979, 981, 1982, 2166, 2124, 1968], "end_pos": [-990, -2017, -2015, 2078, 2076, -1030, 3117, -1016, 2556], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
+{
+    "homing_offset": [
+        2048,
+        3072,
+        3072,
+        -1024,
+        -1024,
+        2048,
+        -2048,
+        2048,
+        -1024
+    ],
+    "drive_mode": [
+        1,
+        1,
+        1,
+        0,
+        0,
+        1,
+        0,
+        1,
+        0
+    ],
+    "start_pos": [
+        2035,
+        3024,
+        3019,
+        979,
+        981,
+        1982,
+        2166,
+        2124,
+        1968
+    ],
+    "end_pos": [
+        -990,
+        -2017,
+        -2015,
+        2078,
+        2076,
+        -1030,
+        3117,
+        -1016,
+        2556
+    ],
+    "calib_mode": [
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "LINEAR"
+    ],
+    "motor_names": [
+        "waist",
+        "shoulder",
+        "shoulder_shadow",
+        "elbow",
+        "elbow_shadow",
+        "forearm_roll",
+        "wrist_angle",
+        "wrist_rotate",
+        "gripper"
+    ]
+}

.cache/calibration/aloha_default/right_follower.json

@@ -1 +1,68 @@
-{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2056, 2895, 2896, 1191, 1190, 2018, 2051, 2056, 2509], "end_pos": [-1040, -2004, -2006, 2126, 2127, -1010, 3050, -1117, 3143], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
+{
+    "homing_offset": [
+        2048,
+        3072,
+        3072,
+        -1024,
+        -1024,
+        2048,
+        -2048,
+        2048,
+        -2048
+    ],
+    "drive_mode": [
+        1,
+        1,
+        1,
+        0,
+        0,
+        1,
+        0,
+        1,
+        0
+    ],
+    "start_pos": [
+        2056,
+        2895,
+        2896,
+        1191,
+        1190,
+        2018,
+        2051,
+        2056,
+        2509
+    ],
+    "end_pos": [
+        -1040,
+        -2004,
+        -2006,
+        2126,
+        2127,
+        -1010,
+        3050,
+        -1117,
+        3143
+    ],
+    "calib_mode": [
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "LINEAR"
+    ],
+    "motor_names": [
+        "waist",
+        "shoulder",
+        "shoulder_shadow",
+        "elbow",
+        "elbow_shadow",
+        "forearm_roll",
+        "wrist_angle",
+        "wrist_rotate",
+        "gripper"
+    ]
+}

.cache/calibration/aloha_default/right_leader.json

@@ -1 +1,68 @@
-{"homing_offset": [2048, 3072, 3072, -1024, -1024, 2048, -2048, 2048, -2048], "drive_mode": [1, 1, 1, 0, 0, 1, 0, 1, 0], "start_pos": [2068, 3034, 3030, 1038, 1041, 1991, 1948, 2090, 1985], "end_pos": [-1025, -2014, -2015, 2058, 2060, -955, 3091, -940, 2576], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["waist", "shoulder", "shoulder_shadow", "elbow", "elbow_shadow", "forearm_roll", "wrist_angle", "wrist_rotate", "gripper"]}
+{
+    "homing_offset": [
+        2048,
+        3072,
+        3072,
+        -1024,
+        -1024,
+        2048,
+        -2048,
+        2048,
+        -2048
+    ],
+    "drive_mode": [
+        1,
+        1,
+        1,
+        0,
+        0,
+        1,
+        0,
+        1,
+        0
+    ],
+    "start_pos": [
+        2068,
+        3034,
+        3030,
+        1038,
+        1041,
+        1991,
+        1948,
+        2090,
+        1985
+    ],
+    "end_pos": [
+        -1025,
+        -2014,
+        -2015,
+        2058,
+        2060,
+        -955,
+        3091,
+        -940,
+        2576
+    ],
+    "calib_mode": [
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "DEGREE",
+        "LINEAR"
+    ],
+    "motor_names": [
+        "waist",
+        "shoulder",
+        "shoulder_shadow",
+        "elbow",
+        "elbow_shadow",
+        "forearm_roll",
+        "wrist_angle",
+        "wrist_rotate",
+        "gripper"
+    ]
+}

.gitattributes

@@ -1,7 +1,6 @@
-.cache/calibration/aloha_default/*.json -filter -diff -merge text
 *.memmap filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.safetensors filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
-*.json filter=lfs diff=lfs merge=lfs -text
+*.json !text !filter !merge !diff

.gitignore

@@ -66,7 +66,6 @@ htmlcov/
 .nox/
 .coverage
 .coverage.*
-.cache
 nosetests.xml
 coverage.xml
 *.cover
@@ -74,6 +73,11 @@ coverage.xml
 .hypothesis/
 .pytest_cache/
 
+# Ignore .cache except calibration
+.cache/*
+!.cache/calibration/
+!.cache/calibration/**
+
 # Translations
 *.mo
 *.pot

examples/4_train_policy_with_script.md

@@ -196,7 +196,7 @@ These logs will also be saved in wandb if `wandb.enable` is set to `true`. Here
 - `success`: average success rate of eval episodes. Reward and success are usually different except for the sparsing reward setting, where reward=1 only when the task is completed successfully.
 - `eval_s`: time to evaluate the policy in the environment, in second.
 - `updt_s`: time to update the network parameters, in second.
-- `data_s`: time to load a batch of data, in second. 
+- `data_s`: time to load a batch of data, in second.
 
 Some metrics are useful for initial performance profiling. For example, if you find the current GPU utilization is low via the `nvidia-smi` command and `data_s` sometimes is too high, you may need to modify batch size or number of dataloading workers to accelerate dataloading. We also recommend [pytorch profiler](https://github.com/huggingface/lerobot?tab=readme-ov-file#improve-your-code-with-profiling) for detailed performance probing.
 

lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml

@@ -8,7 +8,7 @@ OPENX_DATASET_CONFIGS:
       - base_pose_tool_reached
       - gripper_closed
     fps: 3
-  
+
   kuka:
     image_obs_keys:
       - image
@@ -18,7 +18,7 @@ OPENX_DATASET_CONFIGS:
       - clip_function_input/base_pose_tool_reached
       - gripper_closed
     fps: 10
-  
+
   bridge_openx:
     image_obs_keys:
       - image
@@ -28,7 +28,7 @@ OPENX_DATASET_CONFIGS:
       - EEF_state
       - gripper_state
     fps: 5
-  
+
   taco_play:
     image_obs_keys:
       - rgb_static
@@ -40,7 +40,7 @@ OPENX_DATASET_CONFIGS:
       - state_eef
       - state_gripper
     fps: 15
-  
+
   jaco_play:
     image_obs_keys:
       - image
@@ -51,7 +51,7 @@ OPENX_DATASET_CONFIGS:
       - state_eef
       - state_gripper
     fps: 10
-  
+
   berkeley_cable_routing:
     image_obs_keys:
       - image
@@ -72,7 +72,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - null
     fps: 10
-  
+
   nyu_door_opening_surprising_effectiveness:
     image_obs_keys:
       - image
@@ -221,7 +221,7 @@ OPENX_DATASET_CONFIGS:
     image_obs_keys:
       - highres_image
     depth_obs_keys:
-      - null  
+      - null
     state_obs_keys:
       - null
     fps: 10
@@ -234,7 +234,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - joint_state
     fps: 2
-  
+
   ucsd_pick_and_place_dataset_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -244,7 +244,7 @@ OPENX_DATASET_CONFIGS:
       - eef_state
       - gripper_state
     fps: 3
-  
+
   spoc:
     image_obs_keys:
       - image
@@ -254,7 +254,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - null
     fps: 3
-  
+
   austin_sailor_dataset_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -264,7 +264,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 20
-  
+
   austin_sirius_dataset_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -274,7 +274,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 20
-  
+
   bc_z:
     image_obs_keys:
       - image
@@ -285,7 +285,7 @@ OPENX_DATASET_CONFIGS:
       - present/axis_angle
       - present/sensed_close
     fps: 10
-  
+
   utokyo_pr2_opening_fridge_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -295,7 +295,7 @@ OPENX_DATASET_CONFIGS:
       - eef_state
       - gripper_state
     fps: 10
-  
+
   utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -305,7 +305,7 @@ OPENX_DATASET_CONFIGS:
       - eef_state
       - gripper_state
     fps: 10
-  
+
   utokyo_xarm_pick_and_place_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -316,7 +316,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - end_effector_pose
     fps: 10
-  
+
   utokyo_xarm_bimanual_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -325,7 +325,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - pose_r
     fps: 10
-  
+
   robo_net:
     image_obs_keys:
       - image
@@ -336,7 +336,7 @@ OPENX_DATASET_CONFIGS:
       - eef_state
       - gripper_state
     fps: 1
-  
+
   robo_set:
     image_obs_keys:
       - image_left
@@ -348,7 +348,7 @@ OPENX_DATASET_CONFIGS:
       - state
       - state_velocity
     fps: 5
-  
+
   berkeley_mvp_converted_externally_to_rlds:
     image_obs_keys:
       - hand_image
@@ -359,7 +359,7 @@ OPENX_DATASET_CONFIGS:
       - pose
       - joint_pos
     fps: 5
-  
+
   berkeley_rpt_converted_externally_to_rlds:
     image_obs_keys:
       - hand_image
@@ -369,7 +369,7 @@ OPENX_DATASET_CONFIGS:
       - joint_pos
       - gripper
     fps: 30
-  
+
   kaist_nonprehensile_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -378,7 +378,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 10
-  
+
   stanford_mask_vit_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -387,7 +387,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - eef_state
       - gripper_state
-  
+
   tokyo_u_lsmo_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -397,7 +397,7 @@ OPENX_DATASET_CONFIGS:
       - eef_state
       - gripper_state
     fps: 10
-  
+
   dlr_sara_pour_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -406,16 +406,16 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 10
-  
+
   dlr_sara_grid_clamp_converted_externally_to_rlds:
     image_obs_keys:
       - image
     depth_obs_keys:
       - null
     state_obs_keys:
-      - state  
+      - state
     fps: 10
-  
+
   dlr_edan_shared_control_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -424,7 +424,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 5
-  
+
   asu_table_top_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -478,7 +478,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - null
     fps: 1
-  
+
   utaustin_mutex:
     image_obs_keys:
       - image
@@ -488,7 +488,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 20
-  
+
   berkeley_fanuc_manipulation:
     image_obs_keys:
       - image
@@ -499,7 +499,7 @@ OPENX_DATASET_CONFIGS:
       - joint_state
       - gripper_state
     fps: 10
-  
+
   cmu_playing_with_food:
     image_obs_keys:
       - image
@@ -509,7 +509,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 10
-  
+
   cmu_play_fusion:
     image_obs_keys:
       - image
@@ -518,7 +518,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 5
-  
+
   cmu_stretch:
     image_obs_keys:
       - image
@@ -528,7 +528,7 @@ OPENX_DATASET_CONFIGS:
       - eef_state
       - gripper_state
     fps: 10
-  
+
   berkeley_gnm_recon:
     image_obs_keys:
       - image
@@ -539,7 +539,7 @@ OPENX_DATASET_CONFIGS:
       - position
       - yaw
     fps: 3
- 
+
   berkeley_gnm_cory_hall:
     image_obs_keys:
       - image
@@ -550,7 +550,7 @@ OPENX_DATASET_CONFIGS:
       - position
       - yaw
     fps: 5
- 
+
   berkeley_gnm_sac_son:
     image_obs_keys:
       - image
@@ -561,7 +561,7 @@ OPENX_DATASET_CONFIGS:
       - position
       - yaw
     fps: 10
-  
+
   droid:
     image_obs_keys:
       - exterior_image_1_left
@@ -572,7 +572,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - proprio
     fps: 15
-  
+
   droid_100:
     image_obs_keys:
       - exterior_image_1_left
@@ -583,7 +583,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - proprio
     fps: 15
-  
+
   fmb:
     image_obs_keys:
       - image_side_1
@@ -598,7 +598,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - proprio
     fps: 10
-  
+
   dobbe:
     image_obs_keys:
       - wrist_image
@@ -607,7 +607,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - proprio
     fps: 3.75
-  
+
   usc_cloth_sim_converted_externally_to_rlds:
     image_obs_keys:
       - image
@@ -616,7 +616,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - null
     fps: 10
-  
+
   plex_robosuite:
     image_obs_keys:
       - image
@@ -626,7 +626,7 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 20
-  
+
   conq_hose_manipulation:
     image_obs_keys:
       - frontleft_fisheye_image
@@ -637,4 +637,3 @@ OPENX_DATASET_CONFIGS:
     state_obs_keys:
       - state
     fps: 30
-  

lerobot/common/datasets/push_dataset_to_hub/openx_rlds_format.py

@@ -52,7 +52,7 @@ from lerobot.common.datasets.utils import (
 )
 from lerobot.common.datasets.video_utils import VideoFrame, encode_video_frames
 
-with open("lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml", "r") as f:
+with open("lerobot/common/datasets/push_dataset_to_hub/openx/configs.yaml") as f:
     _openx_list = yaml.safe_load(f)
 
 OPENX_DATASET_CONFIGS = _openx_list["OPENX_DATASET_CONFIGS"]