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Merged
yuecideng merged 32 commits into from
Jan 12, 2026
Merged

Add LeRobot Data Handler for Dataset Export #41

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58a5c85
implementation of lerobot data handler
Dec 16, 2025
9b42a3e
implementation of lerobot data handler
Dec 17, 2025
8abd4a4
save multiple episodes in one file
Dec 22, 2025
aaf64dd
add meta info
Dec 22, 2025
5009c3e
rebase
Dec 23, 2025
c0bf789
Add data generation template (#49)
yuecideng Dec 23, 2025
123c092
replay dataset in V3 env
Dec 23, 2025
e21505c
dataset.finalize()
Dec 23, 2025
d944871
wip
yuecideng Dec 24, 2025
ef963ca
Merge remote-tracking branch 'origin/main' into yhn/to_dataset
yuecideng Dec 25, 2025
b02bf5c
wip
yuecideng Dec 25, 2025
05c639e
reabse
Dec 25, 2025
b9fdaa3
simplify init sim stat
Dec 25, 2025
119cfa0
delete unnecessary
Dec 25, 2025
3c3b2bc
index start from 0
Dec 25, 2025
0fe1894
delete unnecessary
Dec 25, 2025
421c124
parallel save mutiple envs
Dec 25, 2025
c1368c6
Merge branch 'main' into yhn/to_dataset
yuecideng Jan 4, 2026
4086dc2
Merge branch 'main' into yhn/to_dataset
Jan 6, 2026
820d119
dataset manager
Jan 7, 2026
463c8d4
refactor dataset functor
Jan 8, 2026
d5471e0
Merge branch 'main' into yhn/to_dataset
yuecideng Jan 11, 2026
7355334
wip
yuecideng Jan 11, 2026
80c653f
wip
yuecideng Jan 12, 2026
80980de
wip
yuecideng Jan 12, 2026
95b89a2
Merge branch 'yhn/to_dataset' of https://github.com/DexForce/EmbodiCh…
yuecideng Jan 12, 2026
ec43932
add action_length && support multiple envs
Jan 12, 2026
3590b71
fixed unwrap
Jan 12, 2026
b1d80f9
remove repo_id
Jan 12, 2026
fabefee
wip
yuecideng Jan 12, 2026
ec22670
update install docs
yuecideng Jan 12, 2026
2e05ca0
wip
yuecideng Jan 12, 2026
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39 changes: 33 additions & 6 deletions configs/gym/pour_water/gym_config.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
{
"id": "PourWater-v3",
"max_episodes": 5,
"max_episodes": 10,
"env": {
"events": {
"random_light": {
Expand Down Expand Up @@ -258,11 +258,38 @@
}
},
"dataset": {
"robot_meta": {
"arm_dofs": 12,
"control_freq": 25,
"control_parts": ["left_arm", "left_eef", "right_arm", "right_eef"],
"min_len_steps": 5
"lerobot": {
"func": "LeRobotRecorder",
"mode": "save",
"params": {
"robot_meta": {
"robot_type": "CobotMagic",
"arm_dofs": 12,
"control_freq": 25,
"control_parts": ["left_arm", "left_eef", "right_arm", "right_eef"],
"observation": {
"vision": {
"cam_high": ["mask"],
"cam_right_wrist": ["mask"],
"cam_left_wrist": ["mask"]
},
"states": ["qpos"],
"exteroception": ["cam_high", "cam_right_wrist", "cam_left_wrist"]
},
"action": "qpos_with_eef_pose",
"min_len_steps": 5
},
"instruction": {
"lang": "Pour water from bottle to cup"
},
"extra": {
"scene_type": "Commercial",
"task_description": "Pour water",
"data_type": "sim"
},
"use_videos": true,
"export_success_only": false
}
}
}
},
Expand Down
326 changes: 326 additions & 0 deletions configs/gym/pour_water/gym_config_simple.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,326 @@
{
"id": "PourWater-v3",
"max_episodes": 5,
"env": {
"events": {
"random_light": {
"func": "randomize_light",
"mode": "interval",
"interval_step": 10,
"params": {
"entity_cfg": {"uid": "light_1"},
"position_range": [[-0.5, -0.5, 2], [0.5, 0.5, 2]],
"color_range": [[0.6, 0.6, 0.6], [1, 1, 1]],
"intensity_range": [50.0, 100.0]
}
},
"init_bottle_pose": {
"func": "randomize_rigid_object_pose",
"mode": "reset",
"params": {
"entity_cfg": {"uid": "bottle"},
"position_range": [[-0.08, -0.12, 0.0], [0.08, 0.04, 0.0]],
"relative_position": true
}
},
"init_cup_pose": {
"func": "randomize_rigid_object_pose",
"mode": "reset",
"params": {
"entity_cfg": {"uid": "cup"},
"position_range": [[-0.08, -0.04, 0.0], [0.08, 0.12, 0.0]],
"relative_position": true
}
},
"prepare_extra_attr": {
"func": "prepare_extra_attr",
"mode": "reset",
"params": {
"attrs": [
{
"name": "object_lengths",
"mode": "callable",
"entity_uids": "all_objects",
"func_name": "compute_object_length",
"func_kwargs": {
"is_svd_frame": true,
"sample_points": 5000
}
},
{
"name": "grasp_pose_object",
"mode": "static",
"entity_cfg": {
"uid": "bottle"
},
"value": [[
[0.32243, 0.03245, 0.94604, 0.025],
[0.00706, -0.99947, 0.03188, -0.0 ],
[0.94657, -0.0036 , -0.32249, 0.0 ],
[0.0 , 0.0 , 0.0 , 1.0 ]
]]
},
{
"name": "left_arm_base_pose",
"mode": "callable",
"entity_cfg": {
"uid": "CobotMagic"
},
"func_name": "get_link_pose",
"func_kwargs": {
"link_name": "left_arm_base",
"to_matrix": true
}
},
{
"name": "right_arm_base_pose",
"mode": "callable",
"entity_cfg": {
"uid": "CobotMagic"
},
"func_name": "get_link_pose",
"func_kwargs": {
"link_name": "right_arm_base",
"to_matrix": true
}
}
]
}
},
"register_info_to_env": {
"func": "register_info_to_env",
"mode": "reset",
"params": {
"registry": [
{
"entity_cfg": {
"uid": "bottle"
},
"pose_register_params": {
"compute_relative": false,
"compute_pose_object_to_arena": true,
"to_matrix": true
}
},
{
"entity_cfg": {
"uid": "cup"
},
"pose_register_params": {
"compute_relative": false,
"compute_pose_object_to_arena": true,
"to_matrix": true
}
},
{
"entity_cfg": {
"uid": "CobotMagic",
"control_parts": ["left_arm"]
},
"attrs": ["left_arm_base_pose"],
"pose_register_params": {
"compute_relative": "cup",
"compute_pose_object_to_arena": false,
"to_matrix": true
},
"prefix": false
},
{
"entity_cfg": {
"uid": "CobotMagic",
"control_parts": ["right_arm"]
},
"attrs": ["right_arm_base_pose"],
"pose_register_params": {
"compute_relative": "bottle",
"compute_pose_object_to_arena": false,
"to_matrix": true
},
"prefix": false
}
],
"registration": "affordance_datas",
"sim_update": true
}
},
"random_material": {
"func": "randomize_visual_material",
"mode": "interval",
"interval_step": 10,
"params": {
"entity_cfg": {"uid": "table"},
"random_texture_prob": 0.0,
"texture_path": "CocoBackground/coco",
"base_color_range": [[0.2, 0.2, 0.2], [1.0, 1.0, 1.0]]
}
},
"random_cup_material": {
"func": "randomize_visual_material",
"mode": "interval",
"interval_step": 10,
"params": {
"entity_cfg": {"uid": "cup"},
"random_texture_prob": 0.0,
"texture_path": "CocoBackground/coco",
"base_color_range": [[0.2, 0.2, 0.2], [1.0, 1.0, 1.0]]
}
},
"random_bottle_material": {
"func": "randomize_visual_material",
"mode": "interval",
"interval_step": 10,
"params": {
"entity_cfg": {"uid": "bottle"},
"random_texture_prob": 0.0,
"texture_path": "CocoBackground/coco",
"base_color_range": [[0.2, 0.2, 0.2], [1.0, 1.0, 1.0]]
}
},
"random_robot_init_eef_pose": {
"func": "randomize_robot_eef_pose",
"mode": "reset",
"params": {
"entity_cfg": {"uid": "CobotMagic", "control_parts": ["left_arm", "right_arm"]},
"position_range": [[-0.01, -0.01, -0.01], [0.01, 0.01, 0]]
}
}
},
"observations": {
"norm_robot_eef_joint": {
"func": "normalize_robot_joint_data",
"mode": "modify",
"name": "robot/qpos",
"params": {
"joint_ids": [12, 13, 14, 15]
}
}
},
"dataset": {
"lerobot": {
"func": "LeRobotRecorder",
"mode": "save",
"params": {
"robot_meta": {
"robot_type": "CobotMagic",
"arm_dofs": 12,
"control_freq": 25,
"control_parts": ["left_arm", "left_eef", "right_arm", "right_eef"],
"observation": {
"vision": {
"cam_high": ["mask"]
},
"states": ["qpos"],
"exteroception": ["cam_high", "cam_right_wrist", "cam_left_wrist"]
},
"action": "qpos_with_eef_pose",
"min_len_steps": 5
},
"instruction": {
"lang": "Pour water from bottle to cup"
},
"extra": {
"scene_type": "Commercial",
"task_description": "Pour water",
"data_type": "sim"
},
"use_videos": true,
"export_success_only": false
}
}
}
},
"robot": {
"uid": "CobotMagic",
"robot_type": "CobotMagic",
"init_pos": [0.0, 0.0, 0.7775],
"init_qpos": [-0.3,0.3,1.0,1.0,-1.2,-1.2,0.0,0.0,0.6,0.6,0.0,0.0,0.05,0.05,0.05,0.05]
},
"sensor": [
{
"sensor_type": "Camera",
"uid": "cam_high",
"width": 960,
"height": 540,
"intrinsics": [488.1665344238281, 488.1665344238281, 480, 270],
"extrinsics": {
"eye": [0.35368482807598, 0.014695524383058989, 1.4517046071614774],
"target": [0.8586357573287919, 0, 0.5232553674540066],
"up": [0.9306678549330372, -0.0005600064212467153, 0.3658647703553347]
}
}
],
"light": {
"direct": [
{
"uid": "light_1",
"light_type": "point",
"color": [1.0, 1.0, 1.0],
"intensity": 50.0,
"init_pos": [2, 0, 2],
"radius": 10.0
}
]
},
"background": [
{
"uid": "table",
"shape": {
"shape_type": "Mesh",
"fpath": "CircleTableSimple/circle_table_simple.ply",
"compute_uv": true
},
"attrs" : {
"mass": 10.0,
"static_friction": 0.95,
"dynamic_friction": 0.9,
"restitution": 0.01
},
"body_scale": [1, 1, 1],
"body_type": "kinematic",
"init_pos": [0.725, 0.0, 0.825],
"init_rot": [0, 90, 0]
}
],
"rigid_object": [
{
"uid":"cup",
"shape": {
"shape_type": "Mesh",
"fpath": "PaperCup/paper_cup.ply",
"compute_uv": true
},
"attrs" : {
"mass": 0.01,
"contact_offset": 0.003,
"rest_offset": 0.001,
"restitution": 0.01,
"max_depenetration_velocity": 1e1,
"min_position_iters": 32,
"min_velocity_iters":8
},
"init_pos": [0.75, 0.1, 0.9],
"body_scale":[0.75, 0.75, 1.0],
"max_convex_hull_num": 8
},
{
"uid":"bottle",
"shape": {
"shape_type": "Mesh",
"fpath": "ScannedBottle/kashijia_processed.ply",
"compute_uv": true
},
"attrs" : {
"mass": 0.01,
"contact_offset": 0.003,
"rest_offset": 0.001,
"restitution": 0.01,
"max_depenetration_velocity": 1e1,
"min_position_iters": 32,
"min_velocity_iters":8
},
"init_pos": [0.75, -0.1, 0.932],
"body_scale":[1, 1, 1],
"max_convex_hull_num": 8
}
]
}
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