File size: 4,319 Bytes
ef2a612 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 | #!/usr/bin/env python3
"""LeRobot 数据集收尾：聚合 stats.json + 写入 Sendi clean_report.json。"""
from __future__ import annotations
import argparse
import json
import os
from datetime import datetime, timezone
from pathlib import Path
DEFAULT_EMBODIMENT = "rm65_dahuan"
DEFAULT_CAMERA_DEVICE = "/dev/video0"
def finalize_dataset(
root: Path,
*,
embodiment_id: str = DEFAULT_EMBODIMENT,
camera_device: str = DEFAULT_CAMERA_DEVICE,
camera_devices: dict[str, str] | None = None,
recording_script: str = "rm65_record_movep.py",
notes: str = "",
) -> None:
from lerobot.common.datasets.compute_stats import aggregate_stats
from lerobot.common.datasets.utils import load_episodes_stats, load_info, write_json, write_stats
root = root.expanduser().resolve()
meta_dir = root / "meta"
if not (meta_dir / "info.json").is_file():
raise FileNotFoundError(f"缺少 meta/info.json: {root}")
info = load_info(root)
episodes_stats = load_episodes_stats(root)
if episodes_stats:
stats = aggregate_stats(list(episodes_stats.values()))
write_stats(stats, root)
print(f"已写入 meta/stats.json（{len(episodes_stats)} episodes）")
else:
print("警告: 无 episodes_stats.jsonl，跳过 stats.json", flush=True)
cam_keys = [k for k in info["features"] if k.startswith("observation.images.")]
devices = dict(camera_devices or {})
cameras = {}
for full_key in cam_keys:
short = full_key.removeprefix("observation.images.")
if short in ("primary", "front"):
role = "wrist_or_front"
default_dev = camera_device
elif short in ("exterior", "side", "third"):
role = "exterior"
default_dev = ""
elif short in ("astra", "astra_pro"):
role = "astra"
default_dev = "/dev/video2"
elif short in ("astra2", "astra_pro2"):
role = "astra2"
default_dev = "/dev/video_astra2"
elif short in ("mono", "cam2"):
role = "mono_rtsp"
default_dev = "rtsp://192.168.73.102:554/stream=1"
else:
role = short
default_dev = camera_device if short == "primary" else ""
cameras[full_key] = {
"device": devices.get(full_key) or devices.get(short) or default_dev,
"role": role,
"width": info["features"][full_key]["shape"][1],
"height": info["features"][full_key]["shape"][0],
}
report = {
"schema": "sendi/clean_report/v1",
"embodiment_id": embodiment_id,
"robot_type": info.get("robot_type", "rm65_movep"),
"codebase_version": info.get("codebase_version", "v2.1"),
"fps": info.get("fps"),
"cameras": cameras,
"state_names": info["features"].get("observation.state", {}).get("names", []),
"action_names": info["features"].get("action", {}).get("names", []),
"action_semantics": "ik_target_from_movep_teleop",
"observation_semantics": "sdk_measured_joints_deg",
"recording_script": recording_script,
"total_episodes": info.get("total_episodes", 0),
"total_frames": info.get("total_frames", 0),
"updated_at": datetime.now(timezone.utc).astimezone().isoformat(timespec="seconds"),
"notes": notes,
}
write_json(report, meta_dir / "clean_report.json")
print(f"已写入 meta/clean_report.json embodiment={embodiment_id}")
def main() -> int:
p = argparse.ArgumentParser(description="Finalize LeRobot dataset (stats + clean_report)")
p.add_argument(
"--root",
default=os.environ.get(
"RECORD_ROOT",
"/home/sdznkj/zkx_ws/sendlerobot/datasets/rm65_usb_insert",
),
)
p.add_argument("--embodiment-id", default=os.environ.get("RECORD_EMBODIMENT_ID", DEFAULT_EMBODIMENT))
p.add_argument("--camera-device", default=os.environ.get("RECORD_CAMERA", DEFAULT_CAMERA_DEVICE))
p.add_argument("--notes", default="")
args = p.parse_args()
finalize_dataset(
Path(args.root),
embodiment_id=args.embodiment_id,
camera_device=args.camera_device,
notes=args.notes,
)
return 0
if __name__ == "__main__":
raise SystemExit(main())
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