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DOWNLOAD_DIR="<your path>" # todo:
CONVERSION_DIR="<your path>" # todo:
N_WORKERS=10 # number of workers used for parallel conversion --> adjust based on available RAM
MAX_EPISODES_IN_MEMORY=100 # number of episodes converted in parallel --> adjust based on available RAM
# increase limit on number of files opened in parallel to 20k --> conversion opens up to 1k temporary files
# in /tmp to store dataset during conversion
ulimit -n 20000
# format: [dataset_name, dataset_version, transforms]
DATASET_TRANSFORMS=(
# Datasets used for OpenVLA: https://openvla.github.io/
"fractal20220817_data 0.1.0 resize_and_jpeg_encode"
"kuka 0.1.0 resize_and_jpeg_encode,filter_success"
"taco_play 0.1.0 resize_and_jpeg_encode"
"jaco_play 0.1.0 resize_and_jpeg_encode"
"berkeley_cable_routing 0.1.0 resize_and_jpeg_encode"
"roboturk 0.1.0 resize_and_jpeg_encode"
"viola 0.1.0 resize_and_jpeg_encode"
"berkeley_autolab_ur5 0.1.0 resize_and_jpeg_encode,flip_wrist_image_channels"
"toto 0.1.0 resize_and_jpeg_encode"
"language_table 0.1.0 resize_and_jpeg_encode"
"stanford_hydra_dataset_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode,flip_wrist_image_channels,flip_image_channels"
"austin_buds_dataset_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"nyu_franka_play_dataset_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"furniture_bench_dataset_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"ucsd_kitchen_dataset_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"austin_sailor_dataset_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"austin_sirius_dataset_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"bc_z 0.1.0 resize_and_jpeg_encode"
"dlr_edan_shared_control_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"iamlab_cmu_pickup_insert_converted_externally_to_rlds 0.1.0 resize_and_jpeg_encode"
"utaustin_mutex 0.1.0 resize_and_jpeg_encode,flip_wrist_image_channels,flip_image_channels"
"berkeley_fanuc_manipulation 0.1.0 resize_and_jpeg_encode,flip_wrist_image_channels,flip_image_channels"
"cmu_stretch 0.1.0 resize_and_jpeg_encode"
"dobbe 0.0.1 resize_and_jpeg_encode"
"fmb 0.0.1 resize_and_jpeg_encode"
"droid 1.0.0 resize_and_jpeg_encode"
)
for tuple in "${DATASET_TRANSFORMS[@]}"; do
# Extract strings from the tuple
strings=($tuple)
DATASET=${strings[0]}
VERSION=${strings[1]}
TRANSFORM=${strings[2]}
mkdir ${DOWNLOAD_DIR}/${DATASET}
./google-cloud-sdk/bin/gsutil -m cp -r gs://gresearch/robotics/${DATASET}/${VERSION} ${DOWNLOAD_DIR}/${DATASET}
python3 modify_rlds_dataset.py --dataset=$DATASET --data_dir=$DOWNLOAD_DIR --target_dir=$CONVERSION_DIR --mods=$TRANSFORM --n_workers=$N_WORKERS --max_episodes_in_memory=$MAX_EPISODES_IN_MEMORY
rm -rf ${DOWNLOAD_DIR}/${DATASET}
mv ${CONVERSION_DIR}/${DATASET} ${DOWNLOAD_DIR}
# python3 upload_hf.py $DATASET $VERSION
rm -rf ${DOWNLOAD_DIR}/${DATASET}
done |