so101_block2box / convert_local_v21_to_v30.py
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Update to LeRobot v3.0 format
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#!/usr/bin/env python3
import json
import pandas as pd
import shutil
from pathlib import Path
import jsonlines
def load_jsonlines(fpath):
with jsonlines.open(fpath, "r") as reader:
return list(reader)
def convert_local_dataset():
root = Path(".")
# Load info.json
with open("meta/info.json", "r") as f:
info = json.load(f)
# Update to v3.0
info["codebase_version"] = "v3.0"
# Remove deprecated fields
if "total_chunks" in info:
del info["total_chunks"]
if "total_videos" in info:
del info["total_videos"]
# Add new v3.0 fields
info["data_files_size_in_mb"] = 100
info["video_files_size_in_mb"] = 500
info["data_path"] = "data/chunk-{chunk_index:03d}/file_{file_index:03d}.parquet"
info["video_path"] = "videos/chunk-{chunk_index:03d}/{video_key}/file_{file_index:03d}.mp4"
# Convert fps to float
info["fps"] = float(info["fps"])
# Add fps to all non-video features
for key in info["features"]:
if info["features"][key]["dtype"] != "video":
info["features"][key]["fps"] = info["fps"]
# Write updated info.json
with open("meta/info.json", "w") as f:
json.dump(info, f, indent=4)
# Convert tasks.jsonl to tasks.json (v3.0 format)
if Path("meta/tasks.jsonl").exists():
tasks = load_jsonlines(Path("meta/tasks.jsonl"))
tasks_dict = {str(task["task_index"]): task["task"] for task in tasks}
with open("meta/tasks.json", "w") as f:
json.dump(tasks_dict, f, indent=4)
# Remove old file
Path("meta/tasks.jsonl").unlink()
# Convert episodes.jsonl to episodes.json (v3.0 format)
if Path("meta/episodes.jsonl").exists():
episodes = load_jsonlines(Path("meta/episodes.jsonl"))
episodes_dict = {str(ep["episode_index"]): ep for ep in episodes}
with open("meta/episodes.json", "w") as f:
json.dump(episodes_dict, f, indent=4)
# Remove old file
Path("meta/episodes.jsonl").unlink()
# Convert episodes_stats.jsonl to episodes_stats.json
if Path("meta/episodes_stats.jsonl").exists():
stats = load_jsonlines(Path("meta/episodes_stats.jsonl"))
stats_dict = {str(stat["episode_index"]): stat for stat in stats}
with open("meta/episodes_stats.json", "w") as f:
json.dump(stats_dict, f, indent=4)
# Remove old file
Path("meta/episodes_stats.jsonl").unlink()
print("Dataset successfully converted from v2.1 to v3.0")
print("Updated files:")
print("- meta/info.json (codebase_version updated to v3.0)")
print("- meta/tasks.jsonl -> meta/tasks.json")
print("- meta/episodes.jsonl -> meta/episodes.json")
print("- meta/episodes_stats.jsonl -> meta/episodes_stats.json")
if __name__ == "__main__":
convert_local_dataset()