Upload convert_to_lerobot.py

convert_to_lerobot.py

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+"""
+Minimal example: convert dataset to the LeRobot format.
+
+CLI Example (using the *arrange_flowers* task as an example):
+    python convert_libero_to_lerobot.py \
+        --repo-name arrange_flowers_repo \
+        --raw-dataset /path/to/arrange_flowers \
+        --frame-interval 1 \
+
+Notes:
+- If you plan to push to the Hugging Face Hub later, handle that outside this script.
+"""
+
+import argparse
+import json
+import shutil
+from pathlib import Path
+from typing import Any, Dict, List
+
+import cv2
+import numpy as np
+from lerobot.common.datasets.lerobot_dataset import HF_LEROBOT_HOME, LeRobotDataset
+
+
+def load_jsonl(path: Path) -> List[Dict[str, Any]]:
+    """Load a JSONL file into a list of dicts."""
+    with path.open("r", encoding="utf-8") as f:
+        return [json.loads(line) for line in f]
+
+
+def create_lerobot_dataset(
+    repo_name: str,
+    robot_type: str,
+    fps: float,
+    height: int,
+    width: int,
+) -> LeRobotDataset:
+    """
+    Create a LeRobot dataset with custom feature schema
+    """
+    dataset = LeRobotDataset.create(
+        repo_id=repo_name,
+        robot_type=robot_type,
+        fps=fps,
+        features={
+            "global_image": {
+                "dtype": "image",
+                "shape": (height, width, 3),
+                "names": ["height", "width", "channel"],
+            },
+            "wrist_image": {
+                "dtype": "image",
+                "shape": (height, width, 3),
+                "names": ["height", "width", "channel"],
+            },
+            "state": {
+                "dtype": "float32",
+                "shape": (7,), # for joint_positions and gripper width
+                "names": ["state"],
+            },
+            "actions": {
+                "dtype": "float32",
+                "shape": (8,), # for ee_positions and gripper width
+                "names": ["actions"],
+            },
+        },
+        image_writer_threads=32,
+        image_writer_processes=16,
+    )
+    return dataset
+
+
+def process_episode_dir(
+    episode_path: Path,
+    dataset: LeRobotDataset,
+    frame_interval: int,
+    prompt: str,
+) -> None:
+    """
+    Process a single episode directory and append frames to the given dataset.
+
+    episode_path : Path
+        Episode directory containing `states/states.jsonl` and `videos/*.mp4`.
+    dataset : LeRobotDataset
+        Target dataset to which frames are added.
+    frame_interval : int
+        Sampling stride (>=1).
+    prompt : str
+        Language instruction of this episode.
+    """
+    # Modify if your dataset consists of bimanual data.
+    states_path = episode_path / "states" / "states.jsonl" 
+    videos_dir = episode_path / "videos"
+
+    ep_states = load_jsonl(states_path)
+
+    # adjust them to match your dataset’s actual naming.
+    wrist_video = cv2.VideoCapture(str(videos_dir / "cam_arm_rgb.mp4")) 
+    global_video = cv2.VideoCapture(str(videos_dir / "cam_global_rgb.mp4"))
+
+    wrist_frames_count  = int(wrist_video.get(cv2.CAP_PROP_FRAME_COUNT))
+    global_frames_count = int(global_video.get(cv2.CAP_PROP_FRAME_COUNT))
+    n_states = len(ep_states)
+
+    # assert all lengths match 
+    assert (
+        n_states == wrist_frames_count == global_frames_count
+    ), (
+        f"Mismatch in episode {episode_path.name}: "
+        f"states={n_states}, wrist={wrist_frames_count}, "
+        f"global={global_frames_count}"
+    )
+
+    # write frames to the episode of lerobot dataset
+    for idx in range(frame_interval, n_states, frame_interval):
+        # Build pose
+        pose = np.concatenate(
+            (np.asarray(ep_states[idx]["ee_positions"]), [ep_states[idx]["gripper_width"]])
+        )
+        last_pose = np.concatenate(
+            (np.asarray(ep_states[idx - frame_interval]["joint_positions"]),
+             [ep_states[idx - frame_interval]["gripper_width"]])
+        )
+
+        # Read frames && BGR -> RGB
+        # Resize as needed, but update the LeRobot feature shape accordingly.
+        _, wrist_image  = wrist_video.read()
+        _, global_image = global_video.read()
+        
+        wrist_image  = cv2.cvtColor(wrist_image,  cv2.COLOR_BGR2RGB)
+        global_image = cv2.cvtColor(global_image, cv2.COLOR_BGR2RGB)
+
+        dataset.add_frame(
+            {
+                "global_image": global_image,
+                "wrist_image": wrist_image,
+                "state": last_pose.astype(np.float32, copy=False),
+                "actions": pose.astype(np.float32, copy=False),
+                "task": prompt,
+            }
+        )
+
+    wrist_video.release()
+    global_video.release()
+    dataset.save_episode()
+
+
+def main(
+    repo_name: str,
+    raw_dataset: Path,
+    frame_interval: int = 1,
+    overwrite_repo: bool = False,
+) -> None:
+    """
+    Convert a dataset directory into LeRobot format.
+
+    repo_name : str
+        Output repo/dataset name (saved under $LEROBOT_HOME / repo_name).
+    raw_dataset : Path
+        Path to the raw dataset root directory.
+    frame_interval : int, default=1
+        Sample every N frames (kept identical).
+    overwrite_repo : bool, default=False
+        If True, remove the existing dataset directory before writing.
+    """
+    assert frame_interval >= 1, "frame_interval must be >= 1"
+
+    # overwrite repo
+    dst_dir = HF_LEROBOT_HOME / repo_name
+    if overwrite_repo and dst_dir.exists():
+        print(f"removing existing dataset at {dst_dir}")
+        shutil.rmtree(dst_dir)
+
+    # Load task_infos
+    task_info_path = raw_dataset / "meta" / "task_info.json"
+    with task_info_path.open("r", encoding="utf-8") as f:
+        task_info = json.load(f)
+
+    robot_type = task_info["task_desc"]["task_tag"][2]  # "ARX5"
+    video_info = task_info["video_info"]
+    video_info["width"]  = 640  # TODO: derive from task_info or actual videos
+    video_info["height"] = 480
+    fps = float(video_info["fps"])
+
+    prompt = task_info["task_desc"]["prompt"]
+
+    # Create dataset, define feature in the form you need.
+    # - proprio is stored in `state` and actions in `action`
+    # - LeRobot assumes that dtype of image data is `image`
+    dataset = create_lerobot_dataset(
+        repo_name=repo_name,
+        robot_type=robot_type,
+        fps=fps,
+        height=video_info["height"],
+        width=video_info["width"],
+    )
+
+    # populate the dataset to lerobot dataset
+    data_root = raw_dataset / "data"
+    for episode_path in data_root.iterdir():
+        if not episode_path.is_dir():
+            continue
+        print(f"Processing episode: {episode_path.name}")
+        process_episode_dir(
+            episode_path=episode_path,
+            dataset=dataset,
+            frame_interval=frame_interval,
+            prompt=prompt,
+        )
+    
+    dataset.consolidate(run_compute_stats=False)
+    print("Done. Dataset saved to: {dst_dir}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description="Convert a custom dataset to LeRobot format."
+    )
+    parser.add_argument(
+        "--repo-name",
+        required=True,
+        help="Name of the output dataset (under $LEROBOT_HOME).",
+    )
+    parser.add_argument(
+        "--raw-dataset",
+        required=True,
+        type=str,
+        help="Path to the raw dataset root.",
+    )
+    parser.add_argument(
+        "--frame-interval",
+        type=int,
+        default=1,
+        help="Sample every N frames. Default: 1",
+    )
+    parser.add_argument(
+        "--overwrite-repo",
+        action="store_true",
+        help="Remove existing output directory if it exists.",
+    )
+    args = parser.parse_args()
+    
+    main(
+        repo_name=args.repo_name,
+        raw_dataset=Path(args.raw_dataset),
+        frame_interval=args.frame_interval,
+        overwrite_repo=args.overwrite_repo,
+    )