demo_record_utils

Utility functions for demo recording and post-processing.

• Folder record contains some example bash scripts to record demonstration via rosbag.
• Folder postprocess contains Python functions and example scripts to extract demonstration data from rosbags and create a HDF5 and a LeRobot dataset.

Postprocess guide

Build docker image and run the container using the utility scripts build_docker.sh and run_docker.sh.

The postprocess folder will be mounted on the container and it is the container's start directory. Please make sure to save the demonstration rosbags in a dedicated folder inside postprocess.

rosbags -> HDF5

The script manip_demo_rosbag_to_hdf5.py is an example to convert manipulation demos (inside the folder <demo-name>) into a HDF5 file.

python manip_demo_rosbag_to_hdf5.py --folder <demo-name>

This will create a HDF5 file named <demo-name>.h5.

HDF5 -> LeRobot

This can be used to create a LeRobot dataset, using the script inria_tiago_hdf5_to_lerobot.py.

python inria_tiago_hdf5_to_lerobot.py --hdf5_path <demo-name>.h5 --repo_id <org>/<dataset-name> --task <task-name>

By default this script save the dataset locally (inside HF_LEROBOT_HOME=/postprocess/lerobot).