code/prepare_open_x.sh

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