File size: 2,283 Bytes
4f372e2 | 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 | #!/usr/bin/env python3
"""Load one TacRich-Manip episode and print every key, shape, dtype, and value order."""
from __future__ import annotations
import argparse
from pathlib import Path
def lerobot_dataset_class():
try:
from lerobot.datasets.lerobot_dataset import LeRobotDataset
except ModuleNotFoundError:
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
return LeRobotDataset
def describe(value: object) -> str:
shape = tuple(getattr(value, "shape", ()))
dtype = getattr(value, "dtype", type(value).__name__)
return f"shape={shape}, dtype={dtype}"
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--repo-id", default="qingzhu-robotics/TacRich-Manip-LeRobot-teleoperation-cyclically-arrange-steel-plate")
parser.add_argument("--revision", default="main")
parser.add_argument("--root", type=Path, help="Optional existing local dataset root")
parser.add_argument("--episode-index", type=int, default=0)
parser.add_argument("--frame-index", type=int, default=0,
help="Zero-based index inside the selected episode")
parser.add_argument("--video-backend", default="pyav")
args = parser.parse_args()
dataset = lerobot_dataset_class()(
repo_id=args.repo_id,
root=args.root,
revision=args.revision,
episodes=[args.episode_index],
video_backend=args.video_backend,
)
if not 0 <= args.frame_index < len(dataset):
raise IndexError(f"frame {args.frame_index} outside [0, {len(dataset) - 1}]")
sample = dataset[args.frame_index]
print(dataset)
print(f"selected episode={args.episode_index}, local frame={args.frame_index}")
print("runtime sample keys:")
for key in sorted(sample):
print(f" {key:48s} {describe(sample[key])}")
print("\nordered vectors:")
for key in (
"observation.state",
"action",
"observation.state_gripper",
"action_gripper",
):
print(f" {key}: {sample[key]}")
print("\nCanonical orders are documented in docs/DATASET_SCHEMA.md.")
print("For exact float64 source times, read the Parquet columns with PyArrow.")
if __name__ == "__main__":
main()
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