diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..65c4c6cb060ea44b08ff9244f2874a38d258105a --- /dev/null +++ b/README.md @@ -0,0 +1,169 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). + + + + + + + + +## Dataset Description + + + +- **Homepage:** [More Information Needed] +- **Paper:** [More Information Needed] +- **License:** apache-2.0 + +## Dataset Structure + +[meta/info.json](meta/info.json): +```json +{ + "codebase_version": "v3.0", + "fps": 30, + "features": { + "action": { + "dtype": "float32", + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "gripper.pos" + ], + "shape": [ + 6 + ] + }, + "observation.state": { + "dtype": "float32", + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "gripper.pos" + ], + "shape": [ + 6 + ] + }, + "observation.images.top": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + }, + "total_episodes": 267, + "total_frames": 153662, + "total_tasks": 1, + "chunks_size": 1000, + "data_files_size_in_mb": 100, + "video_files_size_in_mb": 200, + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", + "robot_type": "omx_follower", + "splits": { + "train": "0:267" + } +} +``` + + +## Citation + +**BibTeX:** + +```bibtex +[More Information Needed] +``` \ No newline at end of file diff --git a/data/chunk-000/file-000.parquet b/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..669dc95d3aefde491c65c48fcdd96fecc675f257 --- /dev/null +++ b/data/chunk-000/file-000.parquet @@ 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a/videos/add_marker.py b/videos/add_marker.py new file mode 100644 index 0000000000000000000000000000000000000000..b402bd5963e6855012b8c5b6c1631b9121ab91ac --- /dev/null +++ b/videos/add_marker.py @@ -0,0 +1,63 @@ +""" +Add a colored square marker to the top-right corner of a video. +Usage: python add_marker.py --color blue|red [--size N] input.mp4 output.mp4 +""" +import argparse +import subprocess +import sys +from pathlib import Path + + +COLOR_MAP = { + "blue": "0x0000FF", + "red": "0xFF0000", +} + +# For 640x480: place an 80x80 square 10px from the right and top edges +# This puts it well outside the typical table/workspace area +DEFAULT_SIZE = 80 +DEFAULT_X_OFFSET = 10 # from right edge +DEFAULT_Y_OFFSET = 10 # from top edge + + +def add_marker(input_path: Path, output_path: Path, color: str, size: int, x_offset: int, y_offset: int): + probe = subprocess.run( + ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_streams", str(input_path)], + capture_output=True, text=True, check=True, + ) + import json + width = int(json.loads(probe.stdout)["streams"][0]["width"]) + + x = width - size - x_offset + y = y_offset + hex_color = COLOR_MAP[color] + + drawbox = f"drawbox=x={x}:y={y}:w={size}:h={size}:color={hex_color}:t=fill" + + cmd = [ + "ffmpeg", "-y", + "-i", str(input_path), + "-vf", drawbox, + "-c:v", "libx264", # re-encode as H.264 so VLC can play it easily + "-crf", "18", + "-preset", "fast", + "-an", + str(output_path), + ] + print(f"Marker: {color} square {size}x{size} at x={x}, y={y}") + print(f"Running: {' '.join(cmd)}") + subprocess.run(cmd, check=True) + print(f"Done → {output_path}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("input", type=Path) + parser.add_argument("output", type=Path) + parser.add_argument("--color", choices=["blue", "red"], default="blue") + parser.add_argument("--size", type=int, default=DEFAULT_SIZE) + parser.add_argument("--x_offset", type=int, default=DEFAULT_X_OFFSET) + parser.add_argument("--y_offset", type=int, default=DEFAULT_Y_OFFSET) + args = parser.parse_args() + + add_marker(args.input, args.output, args.color, args.size, args.x_offset, args.y_offset) diff --git a/videos/add_task_markers.py b/videos/add_task_markers.py new file mode 100644 index 0000000000000000000000000000000000000000..b531bf6ca63cc26b2ad875991e6cc8427b20ac51 --- /dev/null +++ b/videos/add_task_markers.py @@ -0,0 +1,102 @@ +""" +Add colored square markers to observation.images.top videos based on task type: + - BLUE: serve cup to the left / serve cup to the left and place plate at center + - RED: serve cup to the right / serve cup to the right and place plate at center + - No marker: other tasks (place plate at center, return to home) + +Overwrites the original video files in-place. +""" +import os +import shutil +import subprocess +from pathlib import Path + +import pandas as pd + +DATASET_ROOT = Path("/home/jr/ws2/lerobot/datasets/serving_with_palm") +VIDEO_DIR = DATASET_ROOT / "videos/observation.images.top/chunk-000" +EP_DIR = DATASET_ROOT / "meta/episodes/chunk-000" + +BLUE_TASKS = {"serve cup to the left", "serve cup to the left and place plate at center"} +RED_TASKS = {"serve cup to the right", "serve cup to the right and place plate at center"} + +MARKER_SIZE = 100 +VID_WIDTH = 640 +X = VID_WIDTH - MARKER_SIZE - 10 # 530 +Y = 10 + + +def build_drawbox(color_hex: str, ranges: list[tuple]) -> str: + enable = "+".join(f"between(t,{t0:.6f},{t1:.6f})" for t0, t1 in ranges) + return ( + f"drawbox=x={X}:y={Y}:w={MARKER_SIZE}:h={MARKER_SIZE}" + f":color={color_hex}:t=fill:enable='{enable}'" + ) + + +def process_video(vid_file: Path, blue_ranges: list, red_ranges: list): + filters = [] + if blue_ranges: + filters.append(build_drawbox("0x0000FF", blue_ranges)) + if red_ranges: + filters.append(build_drawbox("0xFF0000", red_ranges)) + + vf = ",".join(filters) + tmp = vid_file.with_suffix(".tmp.mp4") + + cmd = [ + "ffmpeg", "-y", + "-i", str(vid_file), + "-vf", vf, + "-c:v", "libx264", "-crf", "18", "-preset", "fast", + "-an", + str(tmp), + ] + result = subprocess.run(cmd, capture_output=True, text=True) + if result.returncode != 0: + print(f" ERROR: {result.stderr[-500:]}") + tmp.unlink(missing_ok=True) + return False + + shutil.move(str(tmp), str(vid_file)) + return True + + +def main(): + # Load all episode metadata + all_rows = [] + for f in sorted(os.listdir(EP_DIR)): + all_rows.append(pd.read_parquet(EP_DIR / f)) + episodes = pd.concat(all_rows).reset_index(drop=True) + + file_idx_col = "videos/observation.images.top/file_index" + from_col = "videos/observation.images.top/from_timestamp" + to_col = "videos/observation.images.top/to_timestamp" + + # Group by video file index + for file_idx, group in episodes.groupby(file_idx_col): + vid_file = VIDEO_DIR / f"file-{int(file_idx):03d}.mp4" + if not vid_file.exists(): + print(f"SKIP {vid_file.name}: file not found") + continue + + blue_ranges, red_ranges = [], [] + for _, row in group.iterrows(): + task = row["tasks"][0] + t0, t1 = row[from_col], row[to_col] + if task in BLUE_TASKS: + blue_ranges.append((t0, t1)) + elif task in RED_TASKS: + red_ranges.append((t0, t1)) + + if not blue_ranges and not red_ranges: + print(f"SKIP {vid_file.name}: no color markers needed") + continue + + print(f"Processing {vid_file.name}: {len(blue_ranges)} blue, {len(red_ranges)} red segments ...") + ok = process_video(vid_file, blue_ranges, red_ranges) + print(f" {'OK' if ok else 'FAILED'} → {vid_file.name}") + + +if __name__ == "__main__": + main() diff --git a/videos/observation.images.top/chunk-000/file-000.mp4 b/videos/observation.images.top/chunk-000/file-000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f8a0557e1e3e18e6c40f7957a6743d525d763004 --- /dev/null +++ b/videos/observation.images.top/chunk-000/file-000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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