mani_skill.trajectory.convert_to_lerobot
========================================

.. py:module:: mani_skill.trajectory.convert_to_lerobot

.. autoapi-nested-parse::

   Converts ManiSkill HDF5 trajectory files to LeRobot v3.0 format.

   Usage:
       python convert_maniskill_to_lerobot.py input.h5 output_dir --task-name "Pick cube"

   For more information: https://github.com/huggingface/lerobot



Attributes
----------

.. autoapisummary::

   mani_skill.trajectory.convert_to_lerobot.DEFAULT_CHUNKS_SIZE
   mani_skill.trajectory.convert_to_lerobot.DEFAULT_FPS
   mani_skill.trajectory.convert_to_lerobot.DEFAULT_IMAGE_SIZE
   mani_skill.trajectory.convert_to_lerobot.logger
   mani_skill.trajectory.convert_to_lerobot.parsed_args


Classes
-------

.. autoapisummary::

   mani_skill.trajectory.convert_to_lerobot.Args


Functions
---------

.. autoapisummary::

   mani_skill.trajectory.convert_to_lerobot.calculate_statistics
   mani_skill.trajectory.convert_to_lerobot.create_directory_structure
   mani_skill.trajectory.convert_to_lerobot.create_meta_files
   mani_skill.trajectory.convert_to_lerobot.create_video_from_frames
   mani_skill.trajectory.convert_to_lerobot.detect_rgb_cameras
   mani_skill.trajectory.convert_to_lerobot.load_metadata
   mani_skill.trajectory.convert_to_lerobot.load_trajectory_from_h5
   mani_skill.trajectory.convert_to_lerobot.main
   mani_skill.trajectory.convert_to_lerobot.parse_image_size
   mani_skill.trajectory.convert_to_lerobot.process_episode
   mani_skill.trajectory.convert_to_lerobot.resize_image_with_padding


Module Contents
---------------

.. py:class:: Args

   .. py:attribute:: chunks_size
      :type:  int
      :value: 1000


      1000)

      :type: Episodes per chunk (default


   .. py:attribute:: fps
      :type:  int
      :value: 30


      30)

      :type: Video FPS (default


   .. py:attribute:: image_size
      :type:  str
      :value: '640x480'


      640x480)

      :type: Output image size as WIDTHxHEIGHT or single value for square (default


   .. py:attribute:: output_dir
      :type:  str

      Output directory for LeRobot dataset


   .. py:attribute:: robot_type
      :type:  Optional[str]
      :value: None


      auto-detected, e.g., "panda", "ur5")

      :type: Robot type (default


   .. py:attribute:: task_name
      :type:  Optional[str]
      :value: None


      auto-detected from metadata)

      :type: Task description (default


   .. py:attribute:: traj_path
      :type:  str

      Path to ManiSkill .h5 trajectory file


.. py:function:: calculate_statistics(all_dataframes, all_rgb_data_by_camera, has_state)

.. py:function:: create_directory_structure(output_dir, rgb_cameras, num_episodes, chunks_size = DEFAULT_CHUNKS_SIZE)

.. py:function:: create_meta_files(base_path, episode_lengths, total_frames, action_dim, state_dim, rgb_cameras, metadata, task_name, chunks_size, fps, image_width, image_height, all_dataframes, all_rgb_data_by_camera, robot_type_override = None)

.. py:function:: create_video_from_frames(frames, output_path, fps, image_width, image_height)

.. py:function:: detect_rgb_cameras(obs_group)

.. py:function:: load_metadata(h5_file)

.. py:function:: load_trajectory_from_h5(h5_file)

.. py:function:: main(args)

.. py:function:: parse_image_size(size_str)

.. py:function:: process_episode(episode_data, episode_idx, has_state, fps, task_index = 0, task_name = 'Unknown task')

.. py:function:: resize_image_with_padding(image, target_size)

.. py:data:: DEFAULT_CHUNKS_SIZE
   :value: 1000


.. py:data:: DEFAULT_FPS
   :value: 30


.. py:data:: DEFAULT_IMAGE_SIZE
   :value: '640x480'


.. py:data:: logger

.. py:data:: parsed_args
   :value: None