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feat(convert): lerobot data convert video codec #306

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Merged
juelg merged 1 commit into from
May 10, 2026
+8 −0
Merged

feat(convert): lerobot data convert video codec #306

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4 changes: 4 additions & 0 deletions python/rcs/__main__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,9 @@ def lerobot_convert(
success: Annotated[bool, typer.Option(help="Only include successful episodes. Example: --success")] = True,
n: Annotated[int, typer.Option(help="Maximum number of episodes to convert. -1 means all. Example: --n 50")] = -1,
video_encoding: Annotated[bool, typer.Option(help="Should the image data be video encoded")] = False,
video_backend: Annotated[
str | None, typer.Option(help="Video backend to use if image data is video encoded e.g. torchcodec")
] = None,
):
cameras = camera_specs_to_configs(camera_specs) if camera_specs is not None else list(DEFAULT_CAMERAS)
run_conversion(
Expand All @@ -164,6 +167,7 @@ def lerobot_convert(
success=success,
n=n,
video_encoding=video_encoding,
video_backend=video_backend,
)


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4 changes: 4 additions & 0 deletions python/rcs/lerobot_joint_converter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,7 @@ def __init__(
image_batch_size: int = DEFAULT_IMAGE_BATCH_SIZE,
per_robot_arm_dim: int = DEFAULT_PER_ROBOT_ARM_DIM,
video_encoding: bool = False,
video_backend: str | None = None,
):
self.root = Path(root)
self.conn = duckdb.connect()
Expand Down Expand Up @@ -133,6 +134,7 @@ def __init__(
features=self._build_features(),
image_writer_threads=10,
image_writer_processes=5,
video_backend=video_backend,
)

def _build_features(self) -> dict[str, dict[str, Any]]:
Expand Down Expand Up @@ -416,6 +418,7 @@ def run_conversion(
success: bool = True,
n: int = -1,
video_encoding: bool = False,
video_backend: str | None = None,
) -> None:
robot_type_converted = RobotType(robot_type)
gripper_type_converted = GripperType(gripper_type)
Expand All @@ -432,6 +435,7 @@ def run_conversion(
image_batch_size=image_batch_size,
per_robot_arm_dim=per_robot_arm_dim,
video_encoding=video_encoding,
video_backend=video_backend,
)
converter.generate_examples(success=success, n=n)

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