File size: 3,355 Bytes
e37c13d | 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 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 | """Per-frame parquet: poses, contact metrics, and tactile validity flags.
Row ``i`` corresponds to frame ``i`` of every MP4 in the same episode.
New in this version: ``tactile_{left,right}_is_new``. A tactile row is only a
fresh sensor reading when that flag is True — the GelSight Mini tops out at
18.75 fps while rows are written at 30 Hz, so some duplication is unavoidable,
and legacy recordings duplicated far more (see ``contact.NewFrameTracker``).
Train tactile dynamics on the flagged rows, not on all of them.
"""
from __future__ import annotations
from pathlib import Path
import numpy as np
import pyarrow as pa
import pyarrow.parquet as pq
# Columns added after the initial release, in the order they should appear.
TACTILE_FLAG_COLUMNS = ("tactile_left_is_new", "tactile_right_is_new")
def build_table(source, tactile: dict, object_pose: np.ndarray | None = None) -> pa.Table:
"""Assemble the per-frame table for one episode.
source: EpisodeSource; tactile: {side: TactileResult}
"""
T = source.T
left, right = tactile["left"], tactile["right"]
cols = {
"frame_idx": np.arange(T, dtype=np.int32),
"timestamp": source.trimmed_cam_ts.astype(np.float64),
"sensor_left_pose": list(source.pose_left),
"sensor_right_pose": list(source.pose_right),
"tactile_left_intensity": left.intensity,
"tactile_left_area": left.area,
"tactile_left_mixed": left.mixed,
"tactile_right_intensity": right.intensity,
"tactile_right_area": right.area,
"tactile_right_mixed": right.mixed,
"tactile_left_is_new": left.is_new,
"tactile_right_is_new": right.is_new,
"source_h5_frame": (np.arange(T) + source.trim).astype(np.int32),
}
if object_pose is not None:
cols["object_pose"] = list(object_pose)
return pa.table(cols)
def write_table(table: pa.Table, path: Path) -> None:
path.parent.mkdir(parents=True, exist_ok=True)
pq.write_table(table, str(path))
def add_index_columns(table: pa.Table, task: str, task_index: int,
episode: str, episode_index: int) -> pa.Table:
"""Attach the LeRobot-style task/episode/frame index columns."""
n = table.num_rows
additions = {
"task": pa.array([task] * n, pa.string()),
"task_index": pa.array(np.full(n, task_index, np.int64)),
"episode": pa.array([episode] * n, pa.string()),
"episode_index": pa.array(np.full(n, episode_index, np.int64)),
"frame_index": pa.array(np.arange(n, dtype=np.int64)),
}
for name, arr in additions.items():
if name in table.column_names:
table = table.set_column(table.schema.get_field_index(name), name, arr)
else:
table = table.append_column(name, arr)
return table
def backfill_is_new(table: pa.Table, left_is_new: np.ndarray,
right_is_new: np.ndarray) -> pa.Table:
"""Add/replace the tactile validity flags on an existing parquet."""
for name, values in zip(TACTILE_FLAG_COLUMNS, (left_is_new, right_is_new)):
arr = pa.array(np.asarray(values, dtype=bool))
if name in table.column_names:
table = table.set_column(table.schema.get_field_index(name), name, arr)
else:
table = table.append_column(name, arr)
return table
|