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8 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Steven Palma
|
052d329470 |
feat(visualization): add foxglove support (#3902)
* Add Foxglove display mode for teleoperate
Add a --display_mode flag (rerun|foxglove) to lerobot-teleoperate. When set
to foxglove, stream observations/actions over a Foxglove WebSocket server:
images as RawImage/CompressedImage, scalars as typed JSON channels with
schemas generated from the feature names (sanitized so paths don't need
quoting). Adds a `foxglove` extra.
* Add Foxglove display mode to lerobot-record
Wire the --display_mode flag (rerun|foxglove) into lerobot-record, matching
lerobot-teleoperate: route init/log through the backend-agnostic dispatchers
and stop the visualization backend on exit.
* update foxglove-sdk to 0.25.1
* Use static lerobot.Scalars schema for Foxglove state topics
Replace the per-topic JSON schema derived from feature names with a single
static lerobot.Scalars schema: a scalars array of {label, value} objects. The
same schema fits any robot regardless of which observation/action features it
reports, and the label field lets Foxglove name each series automatically so
one filtered path plots every feature.
* add foxglove option to dataset viz
* Make Foxglove dataset playback loop the sole frame emitter
Address review: the listener no longer emits frames, it only mutates
playback state and queues a one-shot seek index that the playback loop
services. The loop is now the only caller of emit_frame, so concurrent
random access into the on-disk dataset / video decoder never overlaps.
Also remove the dead server_holder and tighten the _foxglove_safe_name
docstring to state what it does and why.
* Label Foxglove dataset scalars with feature dimension names
Use the dataset's per-dimension feature names (e.g. joint names) as the
Foxglove series labels for /observation/state and /action/state instead
of bare indices. LeRobot stores `names` inconsistently (flat list,
{category: [...]}, or {name: index}), so _feature_dim_names handles each
and falls back to indices on any unknown format or length mismatch.
* Make Foxglove server host bindable and refactor topic/channel handling
Pass display_ip through as the Foxglove WebSocket bind host (127.0.0.1
for local only, 0.0.0.0 for all interfaces) instead of always binding
locally. In lerobot-dataset-viz, fold the separate --port into --web-port
so one flag covers both the Rerun web viewer and the Foxglove server port.
Add a _foxglove_topic() helper and thread a per-topic channel cache
through the log helpers so dataset playback stays self-contained instead
of mutating the module-global cache. Promote SUCCESS to constants.py.
* feat(viz): add support for foxglove in rollout + add to viz tag
* fix(docs): remove misleading installation note
* fix(visualization): no duplicated prefix, consolidated norm + warnings log
* chore(viz): minor improvements
* refactor(viz): split files + autoplay + updated docs + added minimal tests
* fix(viz): right tags + warning
* feat(deprecated ws-port): removing rerun's depreacted ws-port parameter in dataset visualization
* chore(web ports): adding global variables for default foxglove/rerun web ports
* feat(depth): adding depth support to foxglove visualizer. Because of foxglove limitations (min and max values on RawImage cannot be set from the SDK), depth is normalized between [0,1] when a depth range is provided.
* fix(rerun depth range): making rerun depth range computation safe against missing stats
* chore(foxglove depth): make it simple, and make it work.
* fix(scaling): fixing depth frames scaling
---------
Co-authored-by: Roman Shtylman <roman@foxglove.dev>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
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Caroline Pascal
|
3dd19d043e |
feat(depth maps): adding support for depth in LeRobot (#3644)
* feat(depth): add depth quantization helpers and tests
* feat(video): add ffv1 to supported codecs
* feat(depth): persist depth metadata
* feat(depth): extend quantization tools to better fit the encoding/decoding pipeline
* feat(depth): plumb DepthEncoderConfig through LeRobotDataset and DatasetWriter
* feat(depth): wire StreamingVideoEncoder + writer to depth encoder
* feat(depth): wire DatasetReader to decode_depth_frames
* feat(cameras/realsense): expose async depth in metric meters
* feat(features): route 2D camera shapes to observation.depth.<key>
* feat(robots/so_follower): emit + populate depth keys when use_depth
* feat(record): plumb DepthEncoderConfig through lerobot-record
* feat(viz): render depth observations as rr.DepthImage in Viridis
* feat(depth maps writer): adding support for raw depth maps recording with image writer
* chore(format): format code
* feat(depth shape): ensuring depth maps shape is always including the channel
* feat(is_depth): simplifying is_depth nested name + legacy support
* fix(stop_event): fixing stop_event race condition in camera classes
* fix(plumbing): fixing missing parts in the depth maps pipeline
* chore(typos): fixing typos
* test(fix): fixing exisiting tests to still work with latest features
* tests(depth): adding new tests for depth integration validation
* feat(pix_fmt channels): use PyAv to check get pixel formats number of channels
* feat(refactor): refactor DepthEncoderConfig quantization pipeline, so that the methods do not live in the config class. Add pixel format - channels validation.Move the default pixel format for depth in the config file.
* fix(pre-commit): fixing mutable defautl value
* fix(info): fixing info metadata update when is_depth_map was set
* tests(typos): fixing typos in tests
* fix(realsense): fixing typo in realsense serial number
* fix(normalization): restricting 255 normalization to non depth/uint8 images only
* fix(typo): fixing typo
* fix(TIFF): add missing quantization and cleanup for TIFF files
* feat(batched dequantization): optimizing dequantize_depth for torch based batched dequantization
* feat(tools): adding depth support in LeRobotDataset edition tools
* test(aggregate): extending aggregation tests to depth frames
* test(cleaning): cleaning up tests
* fix(from_video_info): fixing early validation issue in from_video_info
* fix(typo): fixing typo
* fix(is_depth): adding missing doctrings and is_depth arguments in video decoding functions
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>
* fix(depth units): fixing depth units output for the realsense cameras
* feat(output unit): adding support for output unit specification at dataset reading/training time
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>
* test(depth): cleaning up depth tests
* test(depth encoding): updating and cleaning video/depth encoding tests
* chore(format): formatting code
* docs(depth): improving depth maps docs
* test(fix): fixing depth tests
* test(dataset tools): adding missing tests for new dataset edition tools features
* chore(format): formatting code
* fix(pyav check): fixing PyAV option validation for integer codec options by normalizing
numeric values before calling `is_integer()`
Co-authored-by: Wensi (Vince) Ai <59036629+wensi-ai@users.noreply.github.com>
* docs(mermaid): fixing mermaid diagram
* fix(rebase): rebase follow up corrections
* feat(dataset tools): adding missing docstrings and features for depth fill support in dataset edition tools
* docs(docstring): updating docstrings
* docs(dataset tools): updating docs
* fix(save images): fixing image saving in dataset tools
* fix(update video info): fixing update video info logic to match the recording and editing use cases
* test(reencode): fixing reencoding monkeypatch
* fix(review): add Claude review
* chore(format): format code
* fix(update video info): ditching the differentiated approahces for video info update - video info are always updated unless for preserved keys.
* chore(rebase): fixing rebase merge conflicts
* test(visualization): fixing visualization tests
* feat(docstrings): adding explicit docstring for encoding parameters. Docstrigns will now show up as description in the CLI --help.
* feat(mm as default): adding a global DEFAULT_DEPTH_UNIT variable setting mm as default depth unit
* fix(RGB <-> camera): renaming camera_encoder to rgb_encoder for clarity
* chore(TODO): removing deprecated TODO
* doc(write_u16_plane): improving docstrings for write_u16_plane
* feat(units): adding constants for depth frames units (m and mm)
* fix(spam): replacing spamming warning but a debug log
* feat(leagcy metadata): adding automatic metadata update for legacy 'video.is_depth_map' feature
* fix(copy&reindex): fixing metadat reshaping for single channel frames
* fix(ImageNet): excluding dpeth frames from ImageNet stats
* fix(PyAV container seek): fixing initial PyAV container seek to be robust againsy codec choice
* feat(lerobot-dataset-viz): adding support for depth in lerobot-dataset-viz
* fix(compress): removing rerun compression for DepthImages
* fix(signle channel squeeze): fixing single channel squeezing
* chore(format): format code
* fix(streaming): adding support for dequantization in streaming_dataset.py
* refactor(read depth): factorizing depth reading methods for realsense camera and adding support for depth-only usage
* chore(renaming): fixing missed RGBEncoderConfig renamings
* docs(renaming): reflecting renamings in a clearer way in the docs
* chore(annotation): excluding depth from the annotation pipeline
* feat(robots): adding depth support in compatible follower robots
* feat(LeSadKiwi): excluding LeKiwi from depth support (for now)
* chore(fail): removing misplaced file
* chore(fail): removing misplaced file
* fix(remove ffv1): removing ffv1 as it does not support MP4
* docs(cheat sheet): adding depth and video encoding to the cheat sheet
* fix(lossless): tuning depth encoding parameters for lossless depth storage
* test(fix): fixing failing tests
* depth(ZMQ): excluding ZMQ from depth support
* Revert "depth(ZMQ): excluding ZMQ from depth support"
This reverts commit
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Caroline Pascal
|
bd9619dfc3 |
feat(encoding parameters): adding support for user provided video encoding parameters (#3455)
* chore(video backend): renaming codec into video_backend in get_safe_default_video_backend() * feat(pyav utils): adding suport for PyAV encoding parameters validation * feat(VideoEncoderConfig): creating a VideoEncoderConfig to encapsulate encoding parameters * feat(VideoEncoderConfig): propagating the VideoEncoderConfig in the codebase * chore(docs): updating the docs * feat(metadata): adding encoding parameters in dataset metadata * fix(concatenation compatibility): adding compatibility check when concatenating video files * feat(VideoEncoderConfig init): making VideoEncoderConfig more robust and adaptable to multiple backends * feat(pyav checks): making pyav parameters checks more robust * chore(duplicate): removing duplicate get_codec_options definition * test(existing): adapting existing tests * test(new): adding new tests for encoding related features * chore(format): fixing formatting issues * chore(PyAV): cleaning up PyAV utils and encoding parameters checks to stick to the minimun required tooling. * chore(format): formatting code * chore(doctrings): updating docstrings * fix(camera_encoder_config): Removing camera_encoder_config from LeRobotDataset, as it's only required in LeRobotDatasetWriter. * feat(default values): applying a consistent naming convention for default RGB cameras video encoder parameters * fix(rollout): propagating VideoEncoderConfig to the latest recording modes * chore(format): formatting code, fixing error messages and variable names * fix(arguments order): reverting changes in arguments order in StreamingVideoEncoder * chore(relative imports): switching to relative local imports within lerobot.datasets * test(artifacts): cleaning up artifacts for the video encoding tests * chore(docs): updating docs * chore(fromat): formatting code * fix(imports): refactoring the file architecture to avoid circular imports. VideoEncoderConfig is now defined in lerobot.configs and lazily imports av at runtime. * fix(typos): fixing typos and small mistakes * test(factories): updating factories * feat(aggregate): updating dataset aggregation procedure. Encoding tuning paramters (crf, g,...) are ignored for validation and changed to None in the aggregated dataset if incompatible. * docs(typos): fixing typos * fix(deletion): reverting unwanted deletion * fix(typos): fixing multiple typos * feat(codec options): passing codec options to lerobot_edit_dataset episode deletion tool * typo(typo): typo * fix(typos): fixing remaining typos * chore(rename): renaming camera_encoder_config to camera_encoder * docs(clean): cleaning and formating docs * docs(dataset): addind details about datasets * chore(format): formatting code * docs(warning): adding warning regarding encoding parameters modification * fix(re-encoding): removing inconsistent re-encoding option in lerobot_edit_dataset * typos(typos): typos * chore(format): resolving prettier issues * fix(h264_nvenc): fixing crf handling for h264_nvenc * docs(clean): removing too technical parts of the docs * fix(imports): fixing imports at the __init__ level * fix(imports): fixing not very pretty imports in video config file |
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masato-ka
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51d3822d75 |
feat(datasets): Add info operation to lerobot-edit-dataset command (#2917)
* Add New featrue to lerobot_edit_datset.py that show dataset information. * Fix to draccus error when happen give only --operation.type=info * Updating test and documents regarding lerobot-edit-dataset info function. * Updating documents regarding lerobot-edit-dataset extract function. option name in document is mistake. * feat(datasets): Update to align formatting with pre-commit.(#2917) Update to align formatting by pre-commit. --------- Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com> |
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Jade Choghari
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79688a09f2 |
improve(dataset-tools): image2video editing tools : Multiple episodes per video file (#2811)
* improve image2video * add episodes video encoding * fix mypy failing * iterate on review * nit * remove max, and let it be optional * iterate more * update docs * fix test --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> |
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Steven Palma
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92fdbe9bbf | docs(dataset): add visualization section (#2664) | ||
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Jade Choghari
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7f40b3bf82 |
feat(dataset): add tool to convert images to video datasets (#2560)
* add video encoding tool * style * make it work * more fixes |
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Michel Aractingi
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b8f7e401d4 |
Dataset tools (#2100)
* feat(dataset-tools): add dataset utilities and example script - Introduced dataset tools for LeRobotDataset, including functions for deleting episodes, splitting datasets, adding/removing features, and merging datasets. - Added an example script demonstrating the usage of these utilities. - Implemented comprehensive tests for all new functionalities to ensure reliability and correctness. * style fixes * move example to dataset dir * missing lisence * fixes mostly path * clean comments * move tests to functions instead of class based * - fix video editting, decode, delete frames and rencode video - copy unchanged video and parquet files to avoid recreating the entire dataset * Fortify tooling tests * Fix type issue resulting from saving numpy arrays with shape 3,1,1 * added lerobot_edit_dataset * - revert changes in examples - remove hardcoded split names * update comment * fix comment add lerobot-edit-dataset shortcut * Apply suggestion from @Copilot Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Michel Aractingi <michel.aractingi@huggingface.co> * style nit after copilot review * fix: bug in dataset root when editing the dataset in place (without setting new_repo_id * Fix bug in aggregate.py when accumelating video timestamps; add tests to fortify aggregate videos * Added missing output repo id * migrate delete episode to using pyav instead of decoding, writing frames to disk and encoding again. Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com> * added modified suffix in case repo_id is not set in delete_episode * adding docs for dataset tools * bump av version and add back time_base assignment * linter * modified push_to_hub logic in lerobot_edit_dataset * fix(progress bar): fixing the progress bar issue in dataset tools * chore(concatenate): removing no longer needed concatenate_datasets usage * fix(file sizes forwarding): forwarding files and chunk sizes in metadata info when splitting and aggregating datasets * style fix * refactor(aggregate): Fix video indexing and timestamp bugs in dataset merging There were three critical bugs in aggregate.py that prevented correct dataset merging: 1. Video file indices: Changed from += to = assignment to correctly reference merged video files 2. Video timestamps: Implemented per-source-file offset tracking to maintain continuous timestamps when merging split datasets (was causing non-monotonic timestamp warnings) 3. File rotation offsets: Store timestamp offsets after rotation decision to prevent out-of-bounds frame access (was causing "Invalid frame index" errors with small file size limits) Changes: - Updated update_meta_data() to apply per-source-file timestamp offsets - Updated aggregate_videos() to track offsets correctly during file rotation - Added get_video_duration_in_s import for duration calculation * Improved docs for split dataset and added a check for the possible case that the split size results in zero episodes * chore(docs): update merge documentation details Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> --------- Co-authored-by: CarolinePascal <caroline8.pascal@gmail.com> Co-authored-by: Jack Vial <vialjack@gmail.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> |