Update to LeRobot v3.0 format

convert_local_v21_to_v30.py

@@ -0,0 +1,88 @@
+#!/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()

meta/episodes.json

@@ -0,0 +1,1108 @@
+{
+    "0": {
+        "episode_index": 0,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 569
+    },
+    "1": {
+        "episode_index": 1,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 401
+    },
+    "2": {
+        "episode_index": 2,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 334
+    },
+    "3": {
+        "episode_index": 3,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 398
+    },
+    "4": {
+        "episode_index": 4,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
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+    },
+    "5": {
+        "episode_index": 5,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 358
+    },
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+        "episode_index": 6,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 331
+    },
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+            "Grasp the block to the box"
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+        "tasks": [
+            "Grasp the block to the box"
+        ],
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+            "Grasp the block to the box"
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+            "Grasp the block to the box"
+        ],
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+            "Grasp the block to the box"
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+            "Grasp the block to the box"
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+            "Grasp the block to the box"
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+            "Grasp the block to the box"
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+            "Grasp the block to the box"
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+        ],
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+        ],
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+    },
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+        ],
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+        ],
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+        ],
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+    },
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+            "Grasp the block to the box"
+        ],
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+        ],
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+            "Grasp the block to the box"
+        ],
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+    },
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+            "Grasp the block to the box"
+        ],
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+    },
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+            "Grasp the block to the box"
+        ],
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+    },
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+            "Grasp the block to the box"
+        ],
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+    },
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+            "Grasp the block to the box"
+        ],
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+    },
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+        "episode_index": 149,
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+            "Grasp the block to the box"
+        ],
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+    },
+    "150": {
+        "episode_index": 150,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 406
+    },
+    "151": {
+        "episode_index": 151,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 268
+    },
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+        "episode_index": 152,
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+            "Grasp the block to the box"
+        ],
+        "length": 283
+    },
+    "153": {
+        "episode_index": 153,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 287
+    },
+    "154": {
+        "episode_index": 154,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 289
+    },
+    "155": {
+        "episode_index": 155,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
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+    },
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+        "episode_index": 156,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 263
+    },
+    "157": {
+        "episode_index": 157,
+        "tasks": [
+            "Grasp the block to the box"
+        ],
+        "length": 296
+    }
+}

meta/info.json

@@ -1,18 +1,16 @@
 {
-    "codebase_version": "v2.1",
+    "codebase_version": "v3.0",
     "robot_type": "so101_follower",
     "total_episodes": 158,
     "total_frames": 52754,
     "total_tasks": 1,
-    "total_videos": 316,
-    "total_chunks": 1,
     "chunks_size": 1000,
-    "fps": 30,
+    "fps": 30.0,
     "splits": {
         "train": "0:158"
     },
-    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "data_path": "data/chunk-{chunk_index:03d}/file_{file_index:03d}.parquet",
+    "video_path": "videos/chunk-{chunk_index:03d}/{video_key}/file_{file_index:03d}.mp4",
     "features": {
         "action": {
             "dtype": "float32",
@@ -26,7 +24,8 @@
                 "wrist_flex.pos",
                 "wrist_roll.pos",
                 "gripper.pos"
-            ]
+            ],
+            "fps": 30.0
         },
         "observation.state": {
             "dtype": "float32",
@@ -40,7 +39,8 @@
                 "wrist_flex.pos",
                 "wrist_roll.pos",
                 "gripper.pos"
-            ]
+            ],
+            "fps": 30.0
         },
         "observation.images.handeye": {
             "dtype": "video",
@@ -93,35 +93,42 @@
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30.0
         },
         "frame_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30.0
         },
         "episode_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30.0
         },
         "index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30.0
         },
         "task_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 30.0
         }
-    }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500
 }

meta/tasks.json

@@ -0,0 +1,3 @@
+{
+    "0": "Grasp the block to the box"
+}

upload_to_hf.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+
+from huggingface_hub import HfApi
+from pathlib import Path
+
+def upload_dataset():
+    api = HfApi()
+    
+    # Upload the entire dataset directory
+    api.upload_folder(
+        folder_path=".",
+        repo_id="m3/so101_block2box",
+        repo_type="dataset",
+        commit_message="Update to LeRobot v3.0 format"
+    )
+    
+    print("Dataset successfully uploaded to m3/so101_block2box")
+
+if __name__ == "__main__":
+    upload_dataset()