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task

task

Task, dataset schema, and metadata config registrations.

register 

register(cs)

Store this domain's config nodes.

Parameters:

Name Type Description Default
cs ConfigStore

The global Hydra config store.

 required
Source code in src/versatil/configs/store/task.py 
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def register(cs: ConfigStore) -> None:
    """Store this domain's config nodes.

    Args:
        cs: The global Hydra config store.
    """
    cs.store(group="task", name="base", node=TaskSpaceConfig)
    cs.store(
        group="task/dataset_schema/zarr_meta", name="base", node=DatasetMetadataConfig
    )
    cs.store(
        group="task/dataset_schema/metadata/observation",
        name="base",
        node=ObservationMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/observation",
        name="position",
        node=PositionObservationMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/observation",
        name="orientation",
        node=OrientationObservationMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/observation",
        name="gripper",
        node=GripperObservationMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/camera",
        name="base",
        node=CameraMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/camera",
        name="rgb",
        node=RGBCameraMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/camera",
        name="depth",
        node=DepthCameraMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/precomputed_action",
        name="base",
        node=PrecomputedActionMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/precomputed_action",
        name="position",
        node=PositionActionMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/precomputed_action",
        name="orientation",
        node=OrientationActionMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema/metadata/precomputed_action",
        name="gripper",
        node=GripperActionMetadataConfig,
    )
    cs.store(
        group="task/dataset_schema", name="lerobot", node=LeRobotDatasetSchemaConfig
    )
    cs.store(group="task/dataset_schema", name="base", node=DatasetSchemaConfig)
    cs.store(group="task/dataset_schema", name="hdf5", node=Hdf5DatasetSchemaConfig)
    cs.store(group="task/dataset_schema", name="csv", node=CsvDatasetSchemaConfig)
    cs.store(
        group="task/dataset_schema",
        name="synthetic_schema",
        node=SyntheticDatasetSchemaConfig,
    )
    cs.store(
        group="task/dataset_schema/synthetic",
        name="synthetic_schema",
        node=SyntheticDatasetSchemaConfig,
    )
    cs.store(group="task/dataloader", name="base", node=DataLoaderConfig)
    cs.store(
        group="task/dataloader/image_augmentations",
        name="base",
        node=AugmentationPipelineConfig,
    )
    cs.store(group="task/dataloader/tokenization", name="base", node=TokenizationConfig)
    cs.store(
        group="task/dataloader/tokenization/action",
        name="base",
        node=ActionTokenizationConfig,
    )
    cs.store(
        group="task/dataloader/tokenization/action/discretizer",
        name="base",
        node=ActionDiscretizerConfig,
    )
    cs.store(
        group="task/dataloader/tokenization/action/token_id_mapping",
        name="base",
        node=ActionTokenIdMappingConfig,
    )
    cs.store(
        group="task/dataloader/tokenization/observation",
        name="base",
        node=ObservationTokenizationConfig,
    )
    cs.store(group="task/action_space", name="base", node=ActionSpaceConfig)
    cs.store(group="task/observation_space", name="base", node=ObservationSpaceConfig)