opentau 0.1.1__py3-none-any.whl → 0.2.0__py3-none-any.whl

opentau/scripts/visualize_dataset_html.py

@@ -1,507 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-# Copyright 2026 Tensor Auto Inc. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-""" Visualize data of **all** frames of any episode of a dataset of type LeRobotDataset.
-
-Note: The last frame of the episode doesnt always correspond to a final state.
-That's because our datasets are composed of transition from state to state up to
-the antepenultimate state associated to the ultimate action to arrive in the final state.
-However, there might not be a transition from a final state to another state.
-
-Note: This script aims to visualize the data used to train the neural networks.
-~What you see is what you get~. When visualizing image modality, it is often expected to observe
-lossly compression artifacts since these images have been decoded from compressed mp4 videos to
-save disk space. The compression factor applied has been tuned to not affect success rate.
-
-Example of usage:
-
-- Visualize data stored on a local machine:
-```bash
-local$ python src/opentau/scripts/visualize_dataset_html.py \
-    --repo-id lerobot/pusht
-
-local$ open http://localhost:9090
-```
-
-- Visualize data stored on a distant machine with a local viewer:
-```bash
-distant$ python src/opentau/scripts/visualize_dataset_html.py \
-    --repo-id lerobot/pusht
-
-local$ ssh -L 9090:localhost:9090 distant  # create a ssh tunnel
-local$ open http://localhost:9090
-```
-
-- Select episodes to visualize:
-```bash
-python src/opentau/scripts/visualize_dataset_html.py \
-    --repo-id lerobot/pusht \
-    --episodes 7 3 5 1 4
-```
-"""
-
-import argparse
-import csv
-import json
-import logging
-import re
-import shutil
-import tempfile
-from io import StringIO
-from pathlib import Path
-
-import numpy as np
-import pandas as pd
-import requests
-from flask import Flask, redirect, render_template, request, url_for
-
-from opentau import available_datasets
-from opentau.configs.default import DatasetMixtureConfig, WandBConfig
-from opentau.configs.train import TrainPipelineConfig
-from opentau.datasets.lerobot_dataset import LeRobotDataset
-from opentau.datasets.utils import IterableNamespace
-from opentau.utils.utils import init_logging
-
-
-def run_server(
-    dataset: LeRobotDataset | IterableNamespace | None,
-    episodes: list[int] | None,
-    host: str,
-    port: str,
-    static_folder: Path,
-    template_folder: Path,
-):
-    app = Flask(__name__, static_folder=static_folder.resolve(), template_folder=template_folder.resolve())
-    app.config["SEND_FILE_MAX_AGE_DEFAULT"] = 0  # specifying not to cache
-
-    @app.route("/")
-    def hommepage(dataset=dataset):
-        if dataset:
-            dataset_namespace, dataset_name = dataset.repo_id.split("/")
-            return redirect(
-                url_for(
-                    "show_episode",
-                    dataset_namespace=dataset_namespace,
-                    dataset_name=dataset_name,
-                    episode_id=0,
-                )
-            )
-
-        dataset_param, episode_param = None, None
-        all_params = request.args
-        if "dataset" in all_params:
-            dataset_param = all_params["dataset"]
-        if "episode" in all_params:
-            episode_param = int(all_params["episode"])
-
-        if dataset_param:
-            dataset_namespace, dataset_name = dataset_param.split("/")
-            return redirect(
-                url_for(
-                    "show_episode",
-                    dataset_namespace=dataset_namespace,
-                    dataset_name=dataset_name,
-                    episode_id=episode_param if episode_param is not None else 0,
-                )
-            )
-
-        featured_datasets = [
-            "lerobot/aloha_static_cups_open",
-            "lerobot/columbia_cairlab_pusht_real",
-            "lerobot/taco_play",
-        ]
-        return render_template(
-            "visualize_dataset_homepage.html",
-            featured_datasets=featured_datasets,
-            lerobot_datasets=available_datasets,
-        )
-
-    @app.route("/<string:dataset_namespace>/<string:dataset_name>")
-    def show_first_episode(dataset_namespace, dataset_name):
-        first_episode_id = 0
-        return redirect(
-            url_for(
-                "show_episode",
-                dataset_namespace=dataset_namespace,
-                dataset_name=dataset_name,
-                episode_id=first_episode_id,
-            )
-        )
-
-    @app.route("/<string:dataset_namespace>/<string:dataset_name>/episode_<int:episode_id>")
-    def show_episode(dataset_namespace, dataset_name, episode_id, dataset=dataset, episodes=episodes):
-        repo_id = f"{dataset_namespace}/{dataset_name}"
-        try:
-            if dataset is None:
-                dataset = get_dataset_info(repo_id)
-        except FileNotFoundError:
-            return (
-                "Make sure to convert your LeRobotDataset to v2 & above. See how to convert your dataset at https://github.com/huggingface/lerobot/pull/461",
-                400,
-            )
-        dataset_version = (
-            str(dataset.meta._version) if isinstance(dataset, LeRobotDataset) else dataset.codebase_version
-        )
-        match = re.search(r"v(\d+)\.", dataset_version)
-        if match:
-            major_version = int(match.group(1))
-            if major_version < 2:
-                return "Make sure to convert your LeRobotDataset to v2 & above."
-
-        episode_data_csv_str, columns, ignored_columns = get_episode_data(dataset, episode_id)
-        dataset_info = {
-            "repo_id": f"{dataset_namespace}/{dataset_name}",
-            "num_samples": dataset.num_frames
-            if isinstance(dataset, LeRobotDataset)
-            else dataset.total_frames,
-            "num_episodes": dataset.num_episodes
-            if isinstance(dataset, LeRobotDataset)
-            else dataset.total_episodes,
-            "fps": dataset.fps,
-        }
-        if isinstance(dataset, LeRobotDataset):
-            video_paths = [
-                dataset.meta.get_video_file_path(episode_id, key) for key in dataset.meta.video_keys
-            ]
-            videos_info = [
-                {"url": url_for("static", filename=video_path), "filename": video_path.parent.name}
-                for video_path in video_paths
-            ]
-            tasks = dataset.meta.episodes[episode_id]["tasks"]
-        else:
-            video_keys = [key for key, ft in dataset.features.items() if ft["dtype"] == "video"]
-            videos_info = [
-                {
-                    "url": f"https://huggingface.co/datasets/{repo_id}/resolve/main/"
-                    + dataset.video_path.format(
-                        episode_chunk=int(episode_id) // dataset.chunks_size,
-                        video_key=video_key,
-                        episode_index=episode_id,
-                    ),
-                    "filename": video_key,
-                }
-                for video_key in video_keys
-            ]
-
-            response = requests.get(
-                f"https://huggingface.co/datasets/{repo_id}/resolve/main/meta/episodes.jsonl", timeout=5
-            )
-            response.raise_for_status()
-            # Split into lines and parse each line as JSON
-            tasks_jsonl = [json.loads(line) for line in response.text.splitlines() if line.strip()]
-
-            filtered_tasks_jsonl = [row for row in tasks_jsonl if row["episode_index"] == episode_id]
-            tasks = filtered_tasks_jsonl[0]["tasks"]
-
-        videos_info[0]["language_instruction"] = tasks
-
-        if episodes is None:
-            episodes = list(
-                range(dataset.num_episodes if isinstance(dataset, LeRobotDataset) else dataset.total_episodes)
-            )
-
-        return render_template(
-            "visualize_dataset_template.html",
-            episode_id=episode_id,
-            episodes=episodes,
-            dataset_info=dataset_info,
-            videos_info=videos_info,
-            episode_data_csv_str=episode_data_csv_str,
-            columns=columns,
-            ignored_columns=ignored_columns,
-        )
-
-    app.run(host=host, port=port)
-
-
-def get_ep_csv_fname(episode_id: int):
-    ep_csv_fname = f"episode_{episode_id}.csv"
-    return ep_csv_fname
-
-
-def get_episode_data(dataset: LeRobotDataset | IterableNamespace, episode_index):
-    """Get a csv str containing timeseries data of an episode (e.g. state and action).
-    This file will be loaded by Dygraph javascript to plot data in real time."""
-    columns = []
-
-    selected_columns = [col for col, ft in dataset.features.items() if ft["dtype"] in ["float32", "int32"]]
-    selected_columns.remove("timestamp")
-
-    ignored_columns = []
-    for column_name in selected_columns:
-        shape = dataset.features[column_name]["shape"]
-        shape_dim = len(shape)
-        if shape_dim > 1:
-            selected_columns.remove(column_name)
-            ignored_columns.append(column_name)
-
-    # init header of csv with state and action names
-    header = ["timestamp"]
-
-    for column_name in selected_columns:
-        dim_state = (
-            dataset.meta.shapes[column_name][0]
-            if isinstance(dataset, LeRobotDataset)
-            else dataset.features[column_name].shape[0]
-        )
-
-        if "names" in dataset.features[column_name] and dataset.features[column_name]["names"]:
-            column_names = dataset.features[column_name]["names"]
-            while not isinstance(column_names, list):
-                column_names = list(column_names.values())[0]
-        else:
-            column_names = [f"{column_name}_{i}" for i in range(dim_state)]
-        columns.append({"key": column_name, "value": column_names})
-
-        header += column_names
-
-    selected_columns.insert(0, "timestamp")
-
-    if isinstance(dataset, LeRobotDataset):
-        from_idx = dataset.episode_data_index["from"][episode_index]
-        to_idx = dataset.episode_data_index["to"][episode_index]
-        data = (
-            dataset.hf_dataset.select(range(from_idx, to_idx))
-            .select_columns(selected_columns)
-            .with_format("pandas")
-        )
-    else:
-        repo_id = dataset.repo_id
-
-        url = f"https://huggingface.co/datasets/{repo_id}/resolve/main/" + dataset.data_path.format(
-            episode_chunk=int(episode_index) // dataset.chunks_size, episode_index=episode_index
-        )
-        df = pd.read_parquet(url)
-        data = df[selected_columns]  # Select specific columns
-
-    rows = np.hstack(
-        (
-            np.expand_dims(data["timestamp"], axis=1),
-            *[np.vstack(data[col]) for col in selected_columns[1:]],
-        )
-    ).tolist()
-
-    # Convert data to CSV string
-    csv_buffer = StringIO()
-    csv_writer = csv.writer(csv_buffer)
-    # Write header
-    csv_writer.writerow(header)
-    # Write data rows
-    csv_writer.writerows(rows)
-    csv_string = csv_buffer.getvalue()
-
-    return csv_string, columns, ignored_columns
-
-
-def get_episode_video_paths(dataset: LeRobotDataset, ep_index: int) -> list[str]:
-    # get first frame of episode (hack to get video_path of the episode)
-    first_frame_idx = dataset.episode_data_index["from"][ep_index].item()
-    return [
-        dataset.hf_dataset.select_columns(key)[first_frame_idx][key]["path"]
-        for key in dataset.meta.video_keys
-    ]
-
-
-def get_episode_language_instruction(dataset: LeRobotDataset, ep_index: int) -> list[str]:
-    # check if the dataset has language instructions
-    if "language_instruction" not in dataset.features:
-        return None
-
-    # get first frame index
-    first_frame_idx = dataset.episode_data_index["from"][ep_index].item()
-
-    language_instruction = dataset.hf_dataset[first_frame_idx]["language_instruction"]
-    # TODO (michel-aractingi) hack to get the sentence, some strings in openx are badly stored
-    # with the tf.tensor appearing in the string
-    return language_instruction.removeprefix("tf.Tensor(b'").removesuffix("', shape=(), dtype=string)")
-
-
-def get_dataset_info(repo_id: str) -> IterableNamespace:
-    response = requests.get(
-        f"https://huggingface.co/datasets/{repo_id}/resolve/main/meta/info.json", timeout=5
-    )
-    response.raise_for_status()  # Raises an HTTPError for bad responses
-    dataset_info = response.json()
-    dataset_info["repo_id"] = repo_id
-    return IterableNamespace(dataset_info)
-
-
-def visualize_dataset_html(
-    dataset: LeRobotDataset | None,
-    episodes: list[int] | None = None,
-    output_dir: Path | None = None,
-    serve: bool = True,
-    host: str = "127.0.0.1",
-    port: int = 9090,
-    force_override: bool = False,
-) -> Path | None:
-    init_logging()
-
-    template_dir = Path(__file__).resolve().parent.parent / "templates"
-
-    if output_dir is None:
-        # Create a temporary directory that will be automatically cleaned up
-        output_dir = tempfile.mkdtemp(prefix="lerobot_visualize_dataset_")
-
-    output_dir = Path(output_dir)
-    if output_dir.exists():
-        if force_override:
-            shutil.rmtree(output_dir)
-        else:
-            logging.info(f"Output directory already exists. Loading from it: '{output_dir}'")
-
-    output_dir.mkdir(parents=True, exist_ok=True)
-
-    static_dir = output_dir / "static"
-    static_dir.mkdir(parents=True, exist_ok=True)
-
-    if dataset is None:
-        if serve:
-            run_server(
-                dataset=None,
-                episodes=None,
-                host=host,
-                port=port,
-                static_folder=static_dir,
-                template_folder=template_dir,
-            )
-    else:
-        # Create a simlink from the dataset video folder containing mp4 files to the output directory
-        # so that the http server can get access to the mp4 files.
-        if isinstance(dataset, LeRobotDataset):
-            ln_videos_dir = static_dir / "videos"
-            if not ln_videos_dir.exists():
-                ln_videos_dir.symlink_to((dataset.root / "videos").resolve())
-
-        if serve:
-            run_server(dataset, episodes, host, port, static_dir, template_dir)
-
-
-def create_mock_train_config() -> TrainPipelineConfig:
-    """Create a mock TrainPipelineConfig for dataset visualization.
-
-    Returns:
-        TrainPipelineConfig: A mock config with default values.
-    """
-    return TrainPipelineConfig(
-        dataset_mixture=DatasetMixtureConfig(),  # Will be set by the dataset
-        resolution=(224, 224),
-        num_cams=2,
-        max_state_dim=32,
-        max_action_dim=32,
-        action_chunk=50,
-        loss_weighting={"MSE": 1, "CE": 1},
-        num_workers=4,
-        batch_size=8,
-        steps=100_000,
-        log_freq=200,
-        save_checkpoint=True,
-        save_freq=20_000,
-        use_policy_training_preset=True,
-        wandb=WandBConfig(),
-    )
-
-
-def main():
-    parser = argparse.ArgumentParser()
-
-    parser.add_argument(
-        "--repo-id",
-        type=str,
-        default=None,
-        help="Name of hugging face repositery containing a LeRobotDataset dataset (e.g. `lerobot/pusht` for https://huggingface.co/datasets/lerobot/pusht).",
-    )
-    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.",
-    )
-    parser.add_argument(
-        "--load-from-hf-hub",
-        type=int,
-        default=0,
-        help="Load videos and parquet files from HF Hub rather than local system.",
-    )
-    parser.add_argument(
-        "--episodes",
-        type=int,
-        nargs="*",
-        default=None,
-        help="Episode indices to visualize (e.g. `0 1 5 6` to load episodes of index 0, 1, 5 and 6). By default loads all episodes.",
-    )
-    parser.add_argument(
-        "--output-dir",
-        type=Path,
-        default=None,
-        help="Directory path to write html files and kickoff a web server. By default write them to 'outputs/visualize_dataset/REPO_ID'.",
-    )
-    parser.add_argument(
-        "--serve",
-        type=int,
-        default=1,
-        help="Launch web server.",
-    )
-    parser.add_argument(
-        "--host",
-        type=str,
-        default="127.0.0.1",
-        help="Web host used by the http server.",
-    )
-    parser.add_argument(
-        "--port",
-        type=int,
-        default=9090,
-        help="Web port used by the http server.",
-    )
-    parser.add_argument(
-        "--force-override",
-        type=int,
-        default=0,
-        help="Delete the output directory if it exists already.",
-    )
-
-    parser.add_argument(
-        "--tolerance-s",
-        type=float,
-        default=1e-4,
-        help=(
-            "Tolerance in seconds used to ensure data timestamps respect the dataset fps value"
-            "This is argument passed to the constructor of LeRobotDataset and maps to its tolerance_s constructor argument"
-            "If not given, defaults to 1e-4."
-        ),
-    )
-
-    args = parser.parse_args()
-    kwargs = vars(args)
-    repo_id = kwargs.pop("repo_id")
-    load_from_hf_hub = kwargs.pop("load_from_hf_hub")
-    root = kwargs.pop("root")
-    tolerance_s = kwargs.pop("tolerance_s")
-
-    dataset = None
-    if repo_id:
-        dataset = (
-            LeRobotDataset(create_mock_train_config(), repo_id, root=root, tolerance_s=tolerance_s)
-            if not load_from_hf_hub
-            else get_dataset_info(repo_id)
-        )
-
-    visualize_dataset_html(dataset, **vars(args))
-
-
-if __name__ == "__main__":
-    main()