Add json/jsonl io functions

lerobot/common/datasets/lerobot_dataset.py

@@ -36,7 +36,7 @@
     STATS_PATH,
     TASKS_PATH,
     _get_info_from_robot,
-    append_jsonl,
+    append_jsonlines,
     check_delta_timestamps,
     check_timestamps_sync,
     check_version_compatibility,
@@ -648,7 +648,7 @@ def _save_episode_to_metadata(
                 "task_index": task_index,
                 "task": task,
             }
-            append_jsonl(task_dict, self.root / TASKS_PATH)
+            append_jsonlines(task_dict, self.root / TASKS_PATH)
 
         chunk = self.get_episode_chunk(episode_index)
         if chunk >= self.total_chunks:
@@ -664,7 +664,7 @@ def _save_episode_to_metadata(
             "length": episode_length,
         }
         self.episode_dicts.append(episode_dict)
-        append_jsonl(episode_dict, self.root / EPISODES_PATH)
+        append_jsonlines(episode_dict, self.root / EPISODES_PATH)
 
     def clear_episode_buffer(self) -> None:
         episode_index = self.episode_buffer["episode_index"]

lerobot/common/datasets/utils.py

@@ -18,7 +18,7 @@
 from itertools import accumulate
 from pathlib import Path
 from pprint import pformat
-from typing import Dict
+from typing import Any, Dict
 
 import datasets
 import jsonlines
@@ -80,13 +80,29 @@ def unflatten_dict(d: dict, sep: str = "/") -> dict:
     return outdict
 
 
+def load_json(fpath: Path) -> Any:
+    with open(fpath) as f:
+        return json.load(f)
+
+
 def write_json(data: dict, fpath: Path) -> None:
     fpath.parent.mkdir(exist_ok=True, parents=True)
     with open(fpath, "w") as f:
         json.dump(data, f, indent=4, ensure_ascii=False)
 
 
-def append_jsonl(data: dict, fpath: Path) -> None:
+def load_jsonlines(fpath: Path) -> list[Any]:
+    with jsonlines.open(fpath, "r") as reader:
+        return list(reader)
+
+
+def write_jsonlines(data: dict, fpath: Path) -> None:
+    fpath.parent.mkdir(exist_ok=True, parents=True)
+    with jsonlines.open(fpath, "w") as writer:
+        writer.write_all(data)
+
+
+def append_jsonlines(data: dict, fpath: Path) -> None:
     fpath.parent.mkdir(exist_ok=True, parents=True)
     with jsonlines.open(fpath, "a") as writer:
         writer.write(data)
@@ -170,27 +186,22 @@ def get_hub_safe_version(repo_id: str, version: str, enforce_v2: bool = True) ->
 
 
 def load_info(local_dir: Path) -> dict:
-    with open(local_dir / INFO_PATH) as f:
-        return json.load(f)
+    return load_json(local_dir / INFO_PATH)
 
 
 def load_stats(local_dir: Path) -> dict:
-    with open(local_dir / STATS_PATH) as f:
-        stats = json.load(f)
+    stats = load_json(local_dir / STATS_PATH)
     stats = {key: torch.tensor(value) for key, value in flatten_dict(stats).items()}
     return unflatten_dict(stats)
 
 
 def load_tasks(local_dir: Path) -> dict:
-    with jsonlines.open(local_dir / TASKS_PATH, "r") as reader:
-        tasks = list(reader)
-
+    tasks = load_jsonlines(local_dir / TASKS_PATH)
     return {item["task_index"]: item["task"] for item in sorted(tasks, key=lambda x: x["task_index"])}
 
 
 def load_episode_dicts(local_dir: Path) -> dict:
-    with jsonlines.open(local_dir / EPISODES_PATH, "r") as reader:
-        return list(reader)
+    return load_jsonlines(local_dir / EPISODES_PATH)
 
 
 def _get_info_from_robot(robot: Robot, use_videos: bool) -> tuple[list | dict]:

lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py

@@ -110,7 +110,6 @@
 from pathlib import Path
 
 import datasets
-import jsonlines
 import pyarrow.compute as pc
 import pyarrow.parquet as pq
 import torch
@@ -132,7 +131,10 @@
     create_lerobot_dataset_card,
     flatten_dict,
     get_hub_safe_version,
+    load_json,
     unflatten_dict,
+    write_json,
+    write_jsonlines,
 )
 from lerobot.common.datasets.video_utils import VideoFrame  # noqa: F401
 from lerobot.common.utils.utils import init_hydra_config
@@ -175,23 +177,6 @@ def parse_robot_config(config_path: Path, config_overrides: list[str] | None = N
     }
 
 
-def load_json(fpath: Path) -> dict:
-    with open(fpath) as f:
-        return json.load(f)
-
-
-def write_json(data: dict, fpath: Path) -> None:
-    fpath.parent.mkdir(exist_ok=True, parents=True)
-    with open(fpath, "w") as f:
-        json.dump(data, f, indent=4, ensure_ascii=False)
-
-
-def write_jsonlines(data: dict, fpath: Path) -> None:
-    fpath.parent.mkdir(exist_ok=True, parents=True)
-    with jsonlines.open(fpath, "w") as writer:
-        writer.write_all(data)
-
-
 def convert_stats_to_json(v1_dir: Path, v2_dir: Path) -> None:
     safetensor_path = v1_dir / V1_STATS_PATH
     stats = load_file(safetensor_path)