Upload prep_lerobot.py with huggingface_hub

prep_lerobot.py

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+#!/usr/bin/env python3
+"""prep_lerobot.py — bridge fd-studio's flat transform output to the layout to_lerobot_v21 +
+multiview expect, then those scripts run unmodified.
+
+fd-studio's transform writes /workspace/transform/retargeted/clip_file-XXXXXX/retargeted.hdf5
+(flat, one dir per episode; the hdf5 carries attrs task=<category> and clip="file-XXXXXX").
+to_lerobot_v21.discover() wants /workspace/retargeted/<cat>/clip_file-FFF_epN/retargeted.hdf5 and
+finds the ego video at <EGO>/<cat>/videos/observation.images.camera/chunk-CCC/file-FFF.mp4.
+
+This script, per retargeted clip:
+  • re-derives the source (chunk, file) via transform_batch._episode_range (the same mapping the
+    transform used), so file-FFF matches the ego data+video file index,
+  • symlinks the hdf5 into /workspace/retargeted/<cat>/clip_file-FFF_epN/,
+  • downloads that clip's ego VIDEO into the cache (transform only fetched keypoints).
+EGO for to_lerobot is then just the cache's repo dir (already <cat>/videos + <cat>/meta).
+
+Runs in the retarget venv (h5py). Usage:
+  python prep_lerobot.py --flat /workspace/transform/retargeted --cache /workspace/ego_cache \
+      [--retgt-out /workspace/retargeted]
+Prints a JSON line: {"clips": N, "retgt": ..., "ego": ...}.
+"""
+import argparse
+import glob
+import json
+import os
+import sys
+from pathlib import Path
+
+import h5py
+
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+import transform_batch as tb  # noqa: E402  (reuse _episode_range/_ensure/REPO/PREFIX)
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--flat", required=True, help="/workspace/transform/retargeted")
+    ap.add_argument("--cache", required=True, help="/workspace/ego_cache")
+    ap.add_argument("--retgt-out", default="/workspace/retargeted")
+    a = ap.parse_args()
+
+    cache = Path(a.cache)
+    ego_root = cache / tb.REPO.replace("/", "__")   # to_lerobot EGO = this (<cat>/videos + meta)
+    done, vids, skipped = 0, 0, 0
+
+    for hp in sorted(glob.glob(f"{a.flat}/*/retargeted.hdf5")):
+        try:
+            with h5py.File(hp, "r") as h:
+                cat = str(h.attrs["task"])
+                ep = int(str(h.attrs["clip"]).split("-")[1])
+            r = tb._episode_range(cache, cat, ep)
+            ci, fi = r["data/chunk_index"], r["data/file_index"]
+            fyy = f"file-{fi:03d}"
+
+            # 1) retargeted → category layout with the file-FFF_epN name to_lerobot parses
+            dst = Path(a.retgt_out) / cat / f"clip_{fyy}_ep{ep}"
+            dst.mkdir(parents=True, exist_ok=True)
+            link = dst / "retargeted.hdf5"
+            if link.is_symlink() or link.exists():
+                link.unlink()
+            os.symlink(os.path.abspath(hp), link)
+
+            # 2) download this clip's ego video (into cache, same repo layout)
+            vid_rel = f"{tb.PREFIX}{cat}/videos/observation.images.camera/chunk-{ci:03d}/{fyy}.mp4"
+            try:
+                tb._ensure(cache, vid_rel)
+                vids += 1
+            except Exception as e:
+                print(f"[warn] video dl {vid_rel}: {e}", file=sys.stderr)
+            done += 1
+        except Exception as e:
+            skipped += 1
+            print(f"[warn] {hp}: {e}", file=sys.stderr)
+
+    print(json.dumps({"clips": done, "videos": vids, "skipped": skipped,
+                      "retgt": a.retgt_out, "ego": str(ego_root)}))
+
+
+if __name__ == "__main__":
+    main()