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40 lines
1.2 KiB
Python
40 lines
1.2 KiB
Python
# keys
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import os
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from pathlib import Path
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from huggingface_hub.constants import HF_HOME
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OBS_ENV_STATE = "observation.environment_state"
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OBS_STATE = "observation.state"
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OBS_IMAGE = "observation.image"
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OBS_IMAGES = "observation.images"
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ACTION = "action"
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ROBOTS = "robots"
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TELEOPERATORS = "teleoperators"
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# files & directories
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CHECKPOINTS_DIR = "checkpoints"
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LAST_CHECKPOINT_LINK = "last"
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PRETRAINED_MODEL_DIR = "pretrained_model"
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TRAINING_STATE_DIR = "training_state"
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RNG_STATE = "rng_state.safetensors"
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TRAINING_STEP = "training_step.json"
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OPTIMIZER_STATE = "optimizer_state.safetensors"
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OPTIMIZER_PARAM_GROUPS = "optimizer_param_groups.json"
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SCHEDULER_STATE = "scheduler_state.json"
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if "LEROBOT_HOME" in os.environ:
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raise ValueError(
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f"You have a 'LEROBOT_HOME' environment variable set to '{os.getenv('LEROBOT_HOME')}'.\n"
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"'LEROBOT_HOME' is deprecated, please use 'HF_LEROBOT_HOME' instead."
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)
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# cache dir
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default_cache_path = Path(HF_HOME) / "lerobot"
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HF_LEROBOT_HOME = Path(os.getenv("HF_LEROBOT_HOME", default_cache_path)).expanduser()
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# calibration dir
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default_calibration_path = HF_LEROBOT_HOME / ".calibration"
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HF_LEROBOT_CALIBRATION = Path(os.getenv("HF_LEROBOT_CALIBRATION", default_calibration_path)).expanduser()
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