| """Iterate local single-episode LeRobot datasets using episodes.csv.""" |
| import argparse |
| import csv |
| from pathlib import Path |
|
|
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
|
|
|
|
| def iter_datasets(root, names=None, limit=4): |
| root = Path(root).resolve() |
| selected = set(names) if names else None |
| loaded = 0 |
| with (root / "episodes.csv").open(newline="") as stream: |
| for row in csv.DictReader(stream): |
| name = row["episode"] |
| if selected is not None and name not in selected: |
| continue |
| path = root / row["episode_path"] |
| if not (path / "meta/info.json").is_file(): |
| raise FileNotFoundError(f"Extract the corresponding shard first: {name}") |
| dataset = LeRobotDataset(repo_id=f"Crobotia/{name}", root=path, |
| video_backend="pyav") |
| yield name, dataset |
| loaded += 1 |
| if limit is not None and loaded >= limit: |
| return |
| if loaded == 0: |
| raise ValueError("No selected episode was found in episodes.csv") |
|
|
|
|
| if __name__ == "__main__": |
| parser = argparse.ArgumentParser(description=__doc__) |
| parser.add_argument("--root", type=Path, default=Path(".")) |
| parser.add_argument("--episodes", nargs="+", help="Episode names from episodes.csv") |
| parser.add_argument("--limit", type=int, default=4, help="Maximum episodes to load (default: 4)") |
| args = parser.parse_args() |
| if args.limit < 1: |
| parser.error("--limit must be positive") |
| for name, dataset in iter_datasets(args.root, args.episodes, args.limit): |
| sample = dataset[0] |
| print(name, dataset.num_frames, sample["task"], tuple(sample["observation.state"].shape)) |
|
|
