Datasets:
File size: 6,484 Bytes
0be07b5 | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 | #!/usr/bin/env bash
set -euo pipefail
SRC="${SRC:-/lumos-vePFS/suda/FastUMI_data/processed_data/umi_bechmark_dual/dual_arm_task5}"
RELEASE="${RELEASE:-/lumos-vePFS/suda/FastUMI_release/UMI-Benchmark-v1}"
TASK_NAME="${TASK_NAME:-dual_arm_task5}"
DATA_DIR="$RELEASE/data/$TASK_NAME"
META_DIR="$RELEASE/metadata/$TASK_NAME"
LIST_DIR="$META_DIR/lists"
CHUNK_SIZE="${CHUNK_SIZE:-50}"
mkdir -p "$DATA_DIR" "$LIST_DIR"
cd "$SRC"
python - <<'PY'
from pathlib import Path
import csv
import os
import subprocess
src = Path(os.environ.get("SRC", "/lumos-vePFS/suda/FastUMI_data/processed_data/umi_bechmark_dual/dual_arm_task5"))
release = Path(os.environ.get("RELEASE", "/lumos-vePFS/suda/FastUMI_release/UMI-Benchmark-v1"))
task_name = os.environ.get("TASK_NAME", "dual_arm_task5")
chunk_size = int(os.environ.get("CHUNK_SIZE", "50"))
data_dir = release / "data" / task_name
meta_dir = release / "metadata" / task_name
list_dir = meta_dir / "lists"
scene_targets = [
("T9_Pink_Cup_Plate_Set_Scene_B", 393, "pink cup-plate set", "scene B", "Ab", "background b", "pink cup-plate set scene B"),
("T9_Green_Cup_Plate_Set_Scene_B", 400, "green cup-plate set", "scene B", "Ad", "background b", "green cup-plate set scene B"),
("T9_Pink_Cup_Plate_Set_Scene_A", 400, "pink cup-plate set", "scene A", "Aa", "background a", "pink cup-plate set scene A"),
("T9_Green_Cup_Plate_Set_Scene_A", 407, "green cup-plate set", "scene A", "Ac", "background a", "green cup-plate set scene A"),
]
def session_key(path: Path):
return (path.parent.name.replace("multi_session_", ""), path.name.replace("session_", ""))
def find_sessions(setting_root: Path):
sessions = []
for session in setting_root.rglob("session_*"):
if not session.is_dir():
continue
if not session.parent.name.startswith("multi_session_"):
continue
if "background" not in session.parts:
continue
sessions.append(session)
return sorted(sessions, key=session_key)
data_dir.mkdir(parents=True, exist_ok=True)
list_dir.mkdir(parents=True, exist_ok=True)
for old in data_dir.glob("T9_*/*.tar"):
old.unlink()
for old in list_dir.glob("*.txt"):
old.unlink()
mapping_rows = []
manifest_rows = []
all_session_rows = []
for setting, expected, set_color, scene, source_suffix, background, description in scene_targets:
root = src / setting
sessions = find_sessions(root)
if len(sessions) != expected:
raise SystemExit(f"{setting}: expected {expected} sessions, got {len(sessions)}")
setting_data_dir = data_dir / setting
setting_data_dir.mkdir(parents=True, exist_ok=True)
setting_list = list_dir / f"{setting}_all_sessions.txt"
with setting_list.open("w") as f:
for session in sessions:
rel = session.relative_to(src)
f.write(f"{rel}\n")
date, sess = session_key(session)
all_session_rows.append({
"task": task_name,
"setting": setting,
"source_suffix": source_suffix,
"set_color": set_color,
"scene": scene,
"background": background,
"date": date,
"session": sess,
"session_path": str(rel),
})
mapping_rows.append({
"task": task_name,
"setting": setting,
"source_suffix": source_suffix,
"set_color": set_color,
"scene": scene,
"background": background,
"description": description,
"session_count": len(sessions),
"release_subdir": f"data/{task_name}/{setting}",
"session_list": f"metadata/{task_name}/lists/{setting}_all_sessions.txt",
})
for chunk_idx, start in enumerate(range(0, len(sessions), chunk_size)):
chunk_sessions = sessions[start:start + chunk_size]
chunk_name = f"{setting}_chunk_{chunk_idx:03d}.tar"
chunk_list = list_dir / f"{setting}_chunk_{chunk_idx:03d}.txt"
tar_path = setting_data_dir / chunk_name
with chunk_list.open("w") as f:
for session in chunk_sessions:
f.write(f"{session.relative_to(src)}\n")
subprocess.run(["tar", "-C", str(src), "-cf", str(tar_path), "-T", str(chunk_list)], check=True)
first_date, first_session = session_key(chunk_sessions[0])
last_date, last_session = session_key(chunk_sessions[-1])
manifest_rows.append({
"task": task_name,
"setting": setting,
"source_suffix": source_suffix,
"set_color": set_color,
"scene": scene,
"background": background,
"chunk_index": chunk_idx,
"tar_path": f"data/{task_name}/{setting}/{chunk_name}",
"session_list": f"metadata/{task_name}/lists/{setting}_chunk_{chunk_idx:03d}.txt",
"session_count": len(chunk_sessions),
"first_date": first_date,
"first_session": first_session,
"last_date": last_date,
"last_session": last_session,
})
with (meta_dir / "scene_mapping.csv").open("w", newline="") as f:
fields = ["task", "setting", "source_suffix", "set_color", "scene", "background", "description", "session_count", "release_subdir", "session_list"]
writer = csv.DictWriter(f, fieldnames=fields)
writer.writeheader()
writer.writerows(mapping_rows)
with (meta_dir / "chunk_manifest.csv").open("w", newline="") as f:
fields = ["task", "setting", "source_suffix", "set_color", "scene", "background", "chunk_index", "tar_path", "session_list", "session_count", "first_date", "first_session", "last_date", "last_session"]
writer = csv.DictWriter(f, fieldnames=fields)
writer.writeheader()
writer.writerows(manifest_rows)
with (meta_dir / "all_sessions.csv").open("w", newline="") as f:
fields = ["task", "setting", "source_suffix", "set_color", "scene", "background", "date", "session", "session_path"]
writer = csv.DictWriter(f, fieldnames=fields)
writer.writeheader()
writer.writerows(all_session_rows)
print(f"packed {len(manifest_rows)} tar files under {data_dir}")
PY
cd "$DATA_DIR"
find . -name '*.tar' -type f -print0 | sort -z | xargs -0 sha256sum > "$META_DIR/sha256.txt"
find . -name '*.tar' -type f -print0 | sort -z | xargs -0 du -h > "$META_DIR/sizes.txt"
find . -name '*.tar' -type f -print0 | sort -z | xargs -0 du -sb > "$META_DIR/sizes_bytes.txt"
echo "Done: $DATA_DIR"
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