| |
| """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()) |
|
|
