Merge pull request #17 from isaac-sim/xyao/sqa_fix

Fix doc and video recording image resize ops

Author: xyao-nv

README.md

@@ -149,7 +149,7 @@ export TASK_NAME="nutpouring"
 
 # Within IsaacLabEvalTasks directory
 # DATASET_ROOT_DIR is directory of where Mimic-generated HDF5 is saved locally
-python scripts/convert_hdf5_to_lerobot.py --task_name $TASK_NAME--data_root $DATASET_ROOT_DIR
+python scripts/convert_hdf5_to_lerobot.py --task_name $TASK_NAME --data_root $DATASET_ROOT_DIR
 ```
 
 The GR00T-LeRobot-compatible datasets will be available in `DATASET_ROOT_DIR`.
@@ -190,6 +190,12 @@ We finetuned the pre-trained [GR00T-N1-2B policy](https://huggingface.co/nvidia/
 ```bash
 # Within IsaacLabEvalTasks directory
 cd submodules/Isaac-GR00T
+# Provide the directory where the GR00T-Lerobot data is stored as DATASET_PATH
+# Please use full path, instead of relative path
+# Nut pouring
+# E.g. export DATASET_PATH=/home/data/PhysicalAI-GR00T-Tuned-Tasks/nut_pouring_task/lerobot
+# Exhaust pipe sorting
+# E.g. export DATASET_PATH=/home/data/PhysicalAI-GR00T-Tuned-Tasks/Exhaust-Pipe-Sorting-task/lerobot
 python scripts/gr00t_finetune.py \
     --dataset_path=${DATASET_PATH} \
     --output_dir=${OUTPUT_DIR} \

scripts/config/args.py

@@ -13,6 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
 import shutil
 from dataclasses import dataclass, field
 from enum import Enum
@@ -167,15 +168,17 @@ def __post_init__(self):
             self.model_path = config.model_path
         if self.language_instruction == "":
             self.language_instruction = config.language_instruction
-
+        # If model path is relative, return error
+        if not os.path.isabs(self.model_path):
+            raise ValueError("model_path must be an absolute path. Do not use relative paths.")
         assert (
             self.num_feedback_actions <= self.action_horizon
         ), "num_feedback_actions must be less than or equal to action_horizon"
         # assert all paths exist
         assert Path(self.gr00t_joints_config_path).exists(), "gr00t_joints_config_path does not exist"
         assert Path(self.action_joints_config_path).exists(), "action_joints_config_path does not exist"
         assert Path(self.state_joints_config_path).exists(), "state_joints_config_path does not exist"
-        assert Path(self.model_path).exists(), "model_path does not exist. Do not use relative paths."
+        assert Path(self.model_path).exists(), "model_path does not exist."
         # embodiment_tag
         assert self.embodiment_tag in [
             "gr1",

scripts/evaluate_gn1.py

@@ -79,8 +79,8 @@ def run_closed_loop_policy(
         )
         video_writer = VideoWriter(
             video_fpath,
-            # Reverse the first two elements of the image size, height and width due to cv2
-            args.original_image_size[::-1][:2],
+            # Height, width to be in the order of (width, height) for cv2
+            args.original_image_size[:2][::-1],
             fps=20,
         )