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Signed-off-by: Jade Choghari <chogharijade@gmail.com>
This commit is contained in:
Jade Choghari
2025-10-27 17:52:21 +01:00
committed by fracapuano
parent dd4837f06e
commit 23999ba40d
1 changed files with 41 additions and 15 deletions
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examples/behavior_1k/tester.py
+41 -15
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@@ -46,7 +46,35 @@ from lerobot.utils.utils import init_logging
# TASK = 1
NEW_ROOT = Path("/fsx/jade_choghari/tmp/bb")
from lerobot.datasets.utils import load_info
def convert_info(root, new_root, data_file_size_in_mb, video_file_size_in_mb):
def get_total_episodes_task(local_dir: Path, task_id: int, task_ranges: dict, step) -> int:
"""
Calculates the total number of episodes for a single, specified task.
"""
# Simply load the episodes for the task and count them.
episodes = legacy_load_episodes_task(
local_dir=local_dir,
task_id=task_id,
task_ranges=task_ranges,
step=step
)
return len(episodes)
NUM_CAMERAS = 9
def get_total_frames_task(local_dir, meta_path, task_id: int, task_ranges: dict, step: int) -> int:
episodes_metadata = legacy_load_episodes_task(
local_dir=local_dir,
task_id=task_id,
task_ranges=task_ranges,
step=step
)
total_frames = 0
# like 'duration'
for ep in episodes_metadata.values():
duration_s = ep["length"]
total_frames += int(duration_s)
return total_frames
def convert_info(root, new_root, data_file_size_in_mb, video_file_size_in_mb, meta_path, task_id: int, task_ranges, step):
info = load_info(root)
info["codebase_version"] = "v3.0"
del info["total_videos"]
@@ -60,13 +88,11 @@ def convert_info(root, new_root, data_file_size_in_mb, video_file_size_in_mb):
# already has fps in video_info
continue
info["features"][key]["fps"] = info["fps"]
info["total_episodes"] = get_total_episodes_task()
info["total_frames"] = get_total_frames_task
info["total_tasks"] = 1
info["total_videos"] = get_total_videos_task()
info["chunks_size"] =
breakpoint()
info["total_episodes"] = get_total_episodes_task(root, task_id, task_ranges, step)
info["total_videos"] = info["total_episodes"] * NUM_CAMERAS
info["total_frames"] = get_total_frames_task(root, meta_path, task_id, task_ranges, step)
info["total_tasks"] = 1
write_info(info, new_root)
# convert_info(DATA_PATH, 12, 24)
@@ -198,11 +224,11 @@ def convert_videos_of_camera(root: Path, new_root: Path, video_key: str, video_f
# Check if adding this episode would exceed the limit
if size_in_mb + ep_size_in_mb >= video_file_size_in_mb and len(paths_to_cat) > 0:
# Size limit would be exceeded, save current accumulation WITHOUT this episode
# concatenate_video_files(
# paths_to_cat,
# new_root
# / DEFAULT_VIDEO_PATH.format(video_key=video_key, chunk_index=chunk_idx, file_index=file_idx),
# )
concatenate_video_files(
paths_to_cat,
new_root
/ DEFAULT_VIDEO_PATH.format(video_key=video_key, chunk_index=chunk_idx, file_index=file_idx),
)
# Update episodes metadata for the file we just saved
for i, _ in enumerate(paths_to_cat):
@@ -483,12 +509,12 @@ def convert_dataset_local(
print(f"🔹 Starting conversion for task {task_id}")
print(f"Input root: {root}")
print(f"Output root: {new_root}")
STEP = 10
# Infer task episode ranges
EPISODES_META_PATH = DATA_PATH / "meta" / "episodes.jsonl"
task_ranges = infer_task_episode_ranges(EPISODES_META_PATH)
convert_info(root, new_root, data_file_size_in_mb, video_file_size_in_mb)
# def convert_info(root, new_root, data_file_size_in_mb, video_file_size_in_mb, meta_path, task_id: int, task_ranges, step):
convert_info(root, new_root, data_file_size_in_mb, video_file_size_in_mb, EPISODES_META_PATH, task_id, task_ranges, STEP)
convert_tasks(root, new_root, task_id)
episodes_metadata = convert_data(root, new_root, data_file_size_in_mb, task_index=task_id)
episodes_videos_metadata = convert_videos(root, new_root, video_file_size_in_mb, task_id=task_id)