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a/piper_demos/classify_blocks/20260919T191537752537/global_image.mp4 b/piper_demos/classify_blocks/20260919T191537752537/global_image.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5d8cce6f03cfd3c22bc3a644fd1f864e1877eb0 --- /dev/null +++ b/piper_demos/classify_blocks/20260919T191537752537/global_image.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a7c9eb7358ad7d24412f4c8eedbf4d64fa0db0f2bd6571e32c98d2e6ab4c24e +size 5060620 diff --git a/piper_demos/classify_blocks/20260919T191537752537/hand_image.mp4 b/piper_demos/classify_blocks/20260919T191537752537/hand_image.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..73f642e32ea638bbce3602d11959d689d5ab68f1 --- /dev/null +++ b/piper_demos/classify_blocks/20260919T191537752537/hand_image.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d63ffb1c1a99c76d695334b1d1f5bcb61172775617679bb1771ebbc4218e4fe5 +size 14022999 diff --git a/piper_demos/convert_piper_to_lerobot.py b/piper_demos/convert_piper_to_lerobot.py new file mode 100644 index 0000000000000000000000000000000000000000..16ae89453624a92e7894f27a5c73d1140bdd2b3e --- /dev/null +++ b/piper_demos/convert_piper_to_lerobot.py @@ -0,0 +1,574 @@ +#!/usr/bin/env python3 +"""Convert asynchronous Piper raw episodes to a uniform LeRobot v2.1 dataset. + +New raw episodes contain independent robot, Orbbec and global-camera timestamps. +This converter creates a 50 Hz target clock by default and selects the nearest +robot sample and nearest frame from each camera for every target timestamp. +Schema-v3 episodes additionally retain the original camera acquisition time for +every presentation frame, so alignment diagnostics still expose duplicated or +stale images introduced while making the raw MP4 duration wall-time-correct. +By default, both ``observation.state`` and the action trajectory come from +Piper feedback; ``--action-source action`` uses the recorded GELLO action-joint +targets instead. ``command`` remains as a backward-compatible alias for +``action``. Older synchronized 30 Hz episodes are also supported. +""" + +from __future__ import annotations + +import argparse +import json +import pickle +import shutil +import subprocess +import tempfile +from dataclasses import dataclass +from pathlib import Path +from typing import Any + +import cv2 +import numpy as np +import pyarrow as pa +import pyarrow.parquet as pq + + +CAMERAS = { + "global": "global_image.mp4", + "hand": "hand_image.mp4", +} +STATE_DIM = 7 +ACTION_DIM = 7 +ACTION_SOURCES = ("observation", "action", "command") + + +@dataclass(frozen=True) +class CameraStream: + path: Path + timestamps: np.ndarray + capture_timestamps: np.ndarray + width: int + height: int + source_fps: float + + +@dataclass(frozen=True) +class Episode: + source_dir: Path + timestamps: np.ndarray + state: np.ndarray + action: np.ndarray + cameras: dict[str, CameraStream] + camera_indices: dict[str, np.ndarray] + alignment_ms: dict[str, np.ndarray] + + @property + def length(self) -> int: + return int(self.timestamps.shape[0]) + + +def _validate_timestamps(values: Any, label: str, expected: int) -> np.ndarray: + timestamps = np.asarray(values, dtype=np.float64).reshape(-1) + if timestamps.shape != (expected,): + raise ValueError(f"{label}: expected {expected} timestamps, got {timestamps.shape}") + if not np.isfinite(timestamps).all() or np.any(np.diff(timestamps) < 0): + raise ValueError(f"{label}: timestamps must be finite and non-decreasing") + return timestamps + + +def _nearest_indices(source: np.ndarray, target: np.ndarray) -> np.ndarray: + """Return source indices nearest to each target; ties choose the earlier sample.""" + right = np.searchsorted(source, target, side="left") + right = np.clip(right, 0, len(source) - 1) + left = np.maximum(right - 1, 0) + choose_right = np.abs(source[right] - target) < np.abs(target - source[left]) + return np.where(choose_right, right, left).astype(np.int64) + + +def _video_properties(path: Path) -> tuple[int, int, int, float]: + if not path.is_file(): + raise FileNotFoundError(f"Missing {path}") + capture = cv2.VideoCapture(str(path)) + if not capture.isOpened(): + raise ValueError(f"Could not open {path}") + result = ( + int(capture.get(cv2.CAP_PROP_FRAME_WIDTH)), + int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT)), + int(capture.get(cv2.CAP_PROP_FRAME_COUNT)), + float(capture.get(cv2.CAP_PROP_FPS)), + ) + capture.release() + if result[0] <= 0 or result[1] <= 0 or result[2] <= 0 or result[3] <= 0: + raise ValueError(f"{path}: invalid video metadata {result}") + return result + + +def _load_rows( + data_path: Path, + observations: list[Any], + actions: list[Any], + action_source: str, +) -> tuple[np.ndarray, np.ndarray]: + state_rows: list[np.ndarray] = [] + action_rows: list[np.ndarray] = [] + for frame_index, (observation, command) in enumerate(zip(observations, actions)): + try: + state_row = np.concatenate( + [ + np.asarray(observation["arm_joint_position"], dtype=np.float32).reshape(-1), + np.asarray(observation["gripper_pos"], dtype=np.float32).reshape(-1), + ] + ) + if action_source == "observation": + # Train on the trajectory actually reached by Piper. For an + # action chunk beginning at t, this yields measured q[t:t+H]. + action_row = state_row.copy() + elif action_source in {"action", "command"}: + action_row = np.concatenate( + [ + np.asarray(command["arm_joint_position"], dtype=np.float32).reshape(-1), + np.asarray(command["gripper_pos"], dtype=np.float32).reshape(-1), + ] + ) + else: + raise ValueError( + f"Unsupported action_source={action_source!r}; expected one of {ACTION_SOURCES}" + ) + except KeyError as error: + raise ValueError( + f"{data_path}: frame {frame_index} is missing {error.args[0]!r}" + ) from error + if state_row.shape != (STATE_DIM,) or action_row.shape != (ACTION_DIM,): + raise ValueError( + f"{data_path}: frame {frame_index}: state={state_row.shape}, " + f"action={action_row.shape}; both must be (7,)" + ) + state_rows.append(state_row) + action_rows.append(action_row) + state = np.stack(state_rows).astype(np.float32, copy=False) + action = np.stack(action_rows).astype(np.float32, copy=False) + if not np.isfinite(state).all() or not np.isfinite(action).all(): + raise ValueError(f"{data_path}: state/action contains NaN or Inf") + return state, action + + +def _load_episode(path: Path, target_fps: float, action_source: str) -> Episode: + data_path = path / "data.pkl" + if not data_path.is_file(): + raise FileNotFoundError(f"Missing {data_path}") + with data_path.open("rb") as stream: + payload: dict[str, Any] = pickle.load(stream) + + required = {"timestamps", "observations", "actions"} + missing = required - payload.keys() + if missing: + raise ValueError(f"{data_path}: missing keys {sorted(missing)}") + observations = payload["observations"] + actions = payload["actions"] + count = len(payload["timestamps"]) + if count == 0 or len(observations) != count or len(actions) != count: + raise ValueError( + f"{data_path}: lengths timestamps={count}, observations={len(observations)}, " + f"actions={len(actions)}" + ) + robot_timestamps = _validate_timestamps( + payload["timestamps"], f"{data_path}: robot", count + ) + state, action = _load_rows(data_path, observations, actions, action_source) + + raw_camera_timestamps = payload.get("camera_timestamps") + raw_frame_source_timestamps = payload.get("camera_frame_source_timestamps") + cameras: dict[str, CameraStream] = {} + for camera, filename in CAMERAS.items(): + video_path = path / filename + width, height, frames, source_fps = _video_properties(video_path) + if raw_camera_timestamps is None: + # Schema v1 stored one video frame per robot sample. + if frames != count: + raise ValueError( + f"{video_path}: legacy episode has {frames} frames but {count} robot samples" + ) + timestamps = robot_timestamps.copy() + else: + if camera not in raw_camera_timestamps: + raise ValueError(f"{data_path}: camera_timestamps is missing {camera!r}") + timestamps = _validate_timestamps( + raw_camera_timestamps[camera], f"{data_path}: {camera}", frames + ) + if raw_frame_source_timestamps is None: + capture_timestamps = timestamps + else: + if camera not in raw_frame_source_timestamps: + raise ValueError( + f"{data_path}: camera_frame_source_timestamps is missing {camera!r}" + ) + capture_timestamps = _validate_timestamps( + raw_frame_source_timestamps[camera], + f"{data_path}: {camera} frame source", + frames, + ) + cameras[camera] = CameraStream( + path=video_path, + timestamps=timestamps, + capture_timestamps=capture_timestamps, + width=width, + height=height, + source_fps=source_fps, + ) + + overlap_start = max( + robot_timestamps[0], *(stream.timestamps[0] for stream in cameras.values()) + ) + overlap_end = min( + robot_timestamps[-1], *(stream.timestamps[-1] for stream in cameras.values()) + ) + if overlap_end < overlap_start: + raise ValueError( + f"{path}: streams have no shared time range: {overlap_start:.6f}..{overlap_end:.6f}" + ) + target_count = int(np.floor((overlap_end - overlap_start) * target_fps + 1e-9)) + 1 + if target_count < 2: + raise ValueError(f"{path}: shared stream duration is too short for {target_fps:g} Hz") + target_source_time = overlap_start + np.arange(target_count, dtype=np.float64) / target_fps + output_timestamps = np.arange(target_count, dtype=np.float64) / target_fps + + robot_indices = _nearest_indices(robot_timestamps, target_source_time) + camera_indices: dict[str, np.ndarray] = {} + alignment_ms = { + "robot": np.abs(robot_timestamps[robot_indices] - target_source_time) * 1000.0 + } + for camera, stream in cameras.items(): + indices = _nearest_indices(stream.timestamps, target_source_time) + camera_indices[camera] = indices + alignment_ms[camera] = ( + np.abs(stream.capture_timestamps[indices] - target_source_time) * 1000.0 + ) + + return Episode( + source_dir=path, + timestamps=output_timestamps.astype(np.float32), + state=state[robot_indices], + action=action[robot_indices], + cameras=cameras, + camera_indices=camera_indices, + alignment_ms=alignment_ms, + ) + + +def _features(cameras: dict[str, CameraStream], fps: float) -> dict[str, Any]: + features: dict[str, Any] = {} + for camera, stream in cameras.items(): + features[f"observation.images.{camera}"] = { + "dtype": "video", + "shape": [stream.height, stream.width, 3], + "names": ["height", "width", "channel"], + "info": { + "video.height": stream.height, + "video.width": stream.width, + "video.channels": 3, + "video.fps": fps, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": False, + "has_audio": False, + }, + } + features.update( + { + "observation.state": {"dtype": "float32", "shape": [STATE_DIM], "names": ["state"]}, + "action": {"dtype": "float32", "shape": [ACTION_DIM], "names": ["action"]}, + "timestamp": {"dtype": "float32", "shape": [1], "names": None}, + "frame_index": {"dtype": "int64", "shape": [1], "names": None}, + "episode_index": {"dtype": "int64", "shape": [1], "names": None}, + "index": {"dtype": "int64", "shape": [1], "names": None}, + "task_index": {"dtype": "int64", "shape": [1], "names": None}, + } + ) + return features + + +def _write_episode_parquet( + path: Path, episode: Episode, episode_index: int, global_offset: int +) -> None: + count = episode.length + table = pa.table( + { + "observation.state": pa.array( + episode.state.tolist(), type=pa.list_(pa.float32(), STATE_DIM) + ), + "action": pa.array( + episode.action.tolist(), type=pa.list_(pa.float32(), ACTION_DIM) + ), + "timestamp": pa.array(episode.timestamps, type=pa.float32()), + "frame_index": pa.array(np.arange(count, dtype=np.int64), type=pa.int64()), + "episode_index": pa.array( + np.full(count, episode_index, dtype=np.int64), type=pa.int64() + ), + "index": pa.array( + np.arange(global_offset, global_offset + count, dtype=np.int64), + type=pa.int64(), + ), + "task_index": pa.array(np.zeros(count, dtype=np.int64), type=pa.int64()), + } + ) + path.parent.mkdir(parents=True, exist_ok=True) + pq.write_table(table, path) + + +def _write_resampled_video( + stream: CameraStream, indices: np.ndarray, destination: Path, target_fps: float +) -> None: + ffmpeg = shutil.which("ffmpeg") + if ffmpeg is None: + raise RuntimeError("ffmpeg is required to encode resampled H.264 videos") + destination.parent.mkdir(parents=True, exist_ok=True) + command = [ + ffmpeg, "-hide_banner", "-loglevel", "error", "-y", + "-f", "rawvideo", "-vcodec", "rawvideo", "-pix_fmt", "bgr24", + "-s", f"{stream.width}x{stream.height}", "-r", str(target_fps), + "-i", "-", "-an", "-c:v", "libx264", "-pix_fmt", "yuv420p", + "-movflags", "+faststart", str(destination), + ] + process = subprocess.Popen( + command, stdin=subprocess.PIPE, stdout=subprocess.DEVNULL, stderr=subprocess.PIPE + ) + capture = cv2.VideoCapture(str(stream.path)) + if not capture.isOpened(): + process.kill() + raise ValueError(f"Could not open {stream.path}") + assert process.stdin is not None and process.stderr is not None + source_index = -1 + frame: np.ndarray | None = None + try: + for requested in indices: + requested_index = int(requested) + while source_index < requested_index: + ok, frame = capture.read() + source_index += 1 + if not ok or frame is None: + raise ValueError( + f"{stream.path}: failed to decode source frame {source_index}" + ) + assert frame is not None + process.stdin.write(np.ascontiguousarray(frame, dtype=np.uint8).tobytes()) + process.stdin.close() + error_text = process.stderr.read().decode(errors="replace") + return_code = process.wait() + if return_code != 0: + raise RuntimeError(f"ffmpeg failed for {destination}: {error_text.strip()}") + width, height, frames, fps = _video_properties(destination) + if (width, height) != (stream.width, stream.height): + raise RuntimeError( + f"{destination}: encoded resolution {(width, height)} does not match " + f"{(stream.width, stream.height)}" + ) + if frames != len(indices) or not np.isclose(fps, target_fps, atol=1e-3): + raise RuntimeError( + f"{destination}: expected {len(indices)} frames at {target_fps:g} Hz, " + f"got {frames} frames at {fps:g} Hz" + ) + except Exception: + if process.poll() is None: + process.kill() + process.wait() + if destination.exists(): + destination.unlink() + raise + finally: + capture.release() + + +def _write_json(path: Path, payload: Any) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text(json.dumps(payload, indent=2) + "\n", encoding="utf-8") + + +def convert( + raw_root: Path, + output_root: Path, + dataset_name: str, + task: str, + target_fps: float, + action_source: str, + overwrite: bool, +) -> Path: + raw_root = raw_root.expanduser().resolve() + output_root = output_root.expanduser().resolve() + task = task.strip() + if not raw_root.is_dir(): + raise FileNotFoundError(f"Raw dataset directory does not exist: {raw_root}") + if not dataset_name or Path(dataset_name).name != dataset_name: + raise ValueError("--dataset-name must be one non-empty directory name") + if not task: + raise ValueError("--task must not be empty") + if not np.isfinite(target_fps) or target_fps <= 0: + raise ValueError("--target-fps must be positive") + if action_source not in ACTION_SOURCES: + raise ValueError( + f"--action-source must be one of {ACTION_SOURCES}, got {action_source!r}" + ) + + # Support both legacy //data.pkl and the newer + # ///data.pkl layout. + source_dirs = sorted({data_path.parent for data_path in raw_root.rglob("data.pkl")}) + if not source_dirs: + raise RuntimeError(f"No episode directories containing data.pkl under {raw_root}") + # Store the descriptive name in new datasets while accepting the old CLI + # spelling used by existing scripts. + action_source = "action" if action_source == "command" else action_source + episodes = [_load_episode(path, target_fps, action_source) for path in source_dirs] + reference = episodes[0] + for episode in episodes[1:]: + for camera in CAMERAS: + current = episode.cameras[camera] + expected = reference.cameras[camera] + if (current.width, current.height) != (expected.width, expected.height): + raise ValueError( + f"{camera} resolution changed: {(expected.width, expected.height)} vs " + f"{(current.width, current.height)} in {episode.source_dir}" + ) + + output_root.mkdir(parents=True, exist_ok=True) + dataset_path = output_root / dataset_name + if dataset_path.exists() and not overwrite: + raise FileExistsError( + f"Output already exists: {dataset_path} (pass --overwrite to replace it)" + ) + staging_path = Path(tempfile.mkdtemp(prefix=f".{dataset_name}_", dir=output_root)) + try: + total_frames = 0 + episode_lines: list[str] = [] + for episode_index, episode in enumerate(episodes): + _write_episode_parquet( + staging_path / f"data/chunk-000/episode_{episode_index:06d}.parquet", + episode, + episode_index, + total_frames, + ) + for camera in CAMERAS: + destination = ( + staging_path + / f"videos/chunk-000/observation.images.{camera}/episode_{episode_index:06d}.mp4" + ) + _write_resampled_video( + episode.cameras[camera], + episode.camera_indices[camera], + destination, + target_fps, + ) + episode_lines.append( + json.dumps( + {"episode_index": episode_index, "tasks": [task], "length": episode.length} + ) + ) + total_frames += episode.length + alignment = ", ".join( + f"{name} median/max={np.median(error):.2f}/{np.max(error):.2f}ms" + for name, error in episode.alignment_ms.items() + ) + print( + f"[{episode_index + 1}/{len(episodes)}] {episode.source_dir.name}: " + f"{episode.length} frames at {target_fps:g} Hz; {alignment}" + ) + + info = { + "codebase_version": "v2.1", + "robot_type": "piper", + "total_episodes": len(episodes), + "total_frames": total_frames, + "total_tasks": 1, + "total_videos": len(episodes) * len(CAMERAS), + "total_chunks": 1, + "chunks_size": 1000, + "fps": target_fps, + "action_source": action_source, + "splits": {"train": f"0:{len(episodes)}"}, + "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", + "features": _features(reference.cameras, target_fps), + } + modality = { + "video": { + "global": {"original_key": "observation.images.global"}, + "hand": {"original_key": "observation.images.hand"}, + }, + "state": { + "joints": {"original_key": "observation.state", "start": 0, "end": 6, "absolute": True, "dtype": "float32"}, + "gripper": {"original_key": "observation.state", "start": 6, "end": 7, "absolute": True, "dtype": "float32", "range": [0.0, 1.0]}, + }, + "action": { + "joints": {"original_key": "action", "start": 0, "end": 6, "absolute": True, "dtype": "float32"}, + "gripper": {"original_key": "action", "start": 6, "end": 7, "absolute": True, "dtype": "float32", "range": [0.0, 1.0]}, + }, + "annotation": {"human.action.task_description": {"original_key": "task_index"}}, + } + embodiment = { + "robot_name": "Piper", + "robot_type": "piper", + "record_frequency": target_fps, + "body_controller_frequency": target_fps, + "hand_controller_frequency": target_fps, + "embodiment_tag": "new_embodiment", + "action_source": action_source, + } + _write_json(staging_path / "meta/info.json", info) + _write_json(staging_path / "meta/modality.json", modality) + _write_json(staging_path / "meta/embodiment.json", embodiment) + (staging_path / "meta/tasks.jsonl").write_text( + json.dumps({"task_index": 0, "task": task}) + "\n", encoding="utf-8" + ) + (staging_path / "meta/episodes.jsonl").write_text( + "\n".join(episode_lines) + "\n", encoding="utf-8" + ) + if dataset_path.exists(): + shutil.rmtree(dataset_path) + staging_path.replace(dataset_path) + except Exception: + shutil.rmtree(staging_path, ignore_errors=True) + raise + + print(f"Converted {len(episodes)} episodes / {total_frames} frames to {dataset_path}") + print(f"Uniform output frequency: {target_fps:g} Hz") + print("Alignment: nearest timestamp for robot state/action and both camera streams") + if action_source == "observation": + print("Action source: measured Piper feedback joints (6) + measured normalized gripper (1)") + else: + print("Action source: GELLO command target joints (6) + normalized gripper target (1)") + return dataset_path + + +def build_parser() -> argparse.ArgumentParser: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--raw-root", type=Path, default=Path("data/piper_demos")) + parser.add_argument("--output-root", type=Path, default=Path("data/piper_lerobot")) + parser.add_argument("--dataset-name", default="piper_pick_white_block") + parser.add_argument("--task", default="Pick up white block and place it in the box.") + parser.add_argument("--target-fps", type=float, default=50.0) + parser.add_argument( + "--action-source", + choices=ACTION_SOURCES, + default="observation", + help=( + "LeRobot action source: 'observation' uses measured Piper feedback " + "(default); 'action' uses recorded GELLO /control/joint_states " + "targets. 'command' is a backward-compatible alias for 'action'." + ), + ) + parser.add_argument("--overwrite", action="store_true", help="Replace output after conversion succeeds") + return parser + + +def main() -> int: + args = build_parser().parse_args() + convert( + raw_root=args.raw_root, + output_root=args.output_root, + dataset_name=args.dataset_name, + task=args.task, + target_fps=args.target_fps, + action_source=args.action_source, + overwrite=args.overwrite, + ) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/piper_demos/hanging_mug/20260921/20260921T153635657484/data.pkl b/piper_demos/hanging_mug/20260921/20260921T153635657484/data.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a9007b60ff06d6e2e1c916e076f119a70088f684 --- /dev/null +++ b/piper_demos/hanging_mug/20260921/20260921T153635657484/data.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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