*ihUdZddlZddlZddlZddlZddlmZddlmZm Z m Z m Z m Z ddl Z ddlZddlmZddlmZddlmZdZd Zd hZd d d Ze eefed<daeed<defdZejgdgdgdgdgejZdede fdZ! dTde ede ed e ed!e ed"e e"d#e e d$e d%ed&e#d'e d(ede ee ej$e e%fffd)Z& dUd+ed,ed-ed.e"d#e e de ej$e e%ff d/Z' dVd1ed2e ee ej$fd3e ee fd4e e ee fd5e#de e ee ej$fe ee fff d6Z(d1ed7ed8e d9e d:e ej$ddf d;Z) dWd1ede ee e%fd?e e%d@e e eej$fdAe%dBe*dCe ej$d2e ee ej$fdDe e eefddfdEZ+d1ede ee e%fddf dFZ,dGed3e ee fddfdHZ-dXdJede efdKZ. dYdLedMe ed%ed&e#d'e d(edNe"de ee ffdOZ/ dZdPedQe ed%ed&e#d'e dNe"dRe ed(eddfdSZ0dS)[aConvert raw camera recordings to UnifiedDataset format. Input: a recording directory produced by ``rd record``. Output: UnifiedDataset layout inside the same directory. Usage:: rd convert ./data/test_2/test_task_2_20260223_162246 Output layout:: / split_all.json metadata_shared.json calibration_results.json # copied from the first recording dir 0000/ metadata.json rgb/ scene_camera/ 0000000000.png # lossless PNG 0000000001.png ... left_wrist_camera/ ... depth/ scene_camera/ 0000000000.npz # np.uint16, millimetres ... lowdim/ scene_camera/ 0000000000.npz # intrinsics, extrinsics, action, language 0000000001.npz ... left_wrist_camera/ ... right_wrist_camera/ ... cameras/ # raw SVO2/bag files kept metadata.json # original recording metadata (updated: converted=true) robot_data.npz N)Path)AnyDictListOptionalTuple)tqdm) CAMERA_CONFIG) CameraConfig0000z.pngright_wrist_camerafollower_l_joint_posfollower_r_joint_pos) left_wrist right_wrist_ROLE_TO_JOINT_KEY _kinematicsreturnc^t ddlm}ddlm}||datS)Nr) Kinematics)get_yam_4310_linear_xml_path grasp_site)ri2rt.robots.kinematicsrraiden._xml_pathsr)rrs ./home/robot-lab/raiden_cmu/raiden/converter.py_get_kinematicsrIsM555555BBBBBB j!=!=!?!?NN )rr)rrrr)rr?r)rrrr dtypesvo_pathcddlm}||j|d}|}||S)zKReturn the total frame count of an SVO2 file without extracting any frames.r ZedCameraFcompute_sdk_depth)raiden.cameras.zedr&from_svostemget_total_framesclose)r#r&camerans r_count_svo2_framesr0ksU,,,,,,   x5  Q QF!!A LLNNN Hr+Pzedr c64 svo_pathsnamesrgb_dirs depth_dirsflips max_framessync_threshold_ns stereo_method ffs_scale ffs_iterstri_stereo_variantc 12345ddlm1||zD]} | dd|dk} |dk} | p| 5d}| rVddlm}m}m}|r |}n|r |}n||| }n| rdd l m }m }| | rN|| } | |}n*#t$r}td |d Yd}~nd}~wwxYw|>|| r || }nddl m}td| d|15fdt%||D}i}5r1|D]\}}|||<d|D4td4fd|Dt+t%||}t+t%||}t+t%||}d|D}d}d|D22fd|D34r!t-4nd} t1|| nt3| |ddd}!t52rr|||krnh3fd|D}"t-|"}#d}$|D]t\}}2|rg|#|"|z |krX|2|<2|r |3|z |"|<d}$2|r|#|"|z |kXut52sny|$r|D]\}}|}%||}&|&r$t=j|%j t<j!n|%j }'t=j"tG|||dtHz |'5r||\}(})|%|%j |&|(|)}*|&rt=j|*t<j!}*|*dz'dd(tRj*}+n\|%j+dz'dd(tRj*}+|&rt=j|+t<j!}+tSj,tG|||dd z |+!||-|%j.|d"z }|!/d"5r?|d#zdkr6|j0dkr+|j1|j0z d$z},|!2|,d%d&d'|D2t52r|!3td(|d)5rM|j0dkrB| rd*nd+| 4}-td,|-d-|5i}.|D]\}}d}/ |6}/n#tn$rYnwxYwtSj8||tRj9.}0tSj:tG||d/z |0|3|0|/f|.|<|.S)0uExtract frames from multiple SVO2 files with cross-camera temporal alignment. On each output frame slot the algorithm selects the frame from every camera whose timestamp is closest to the latest camera in the group, skipping any frames that lag by more than *sync_threshold_ns*. This guarantees that for any given output index N the timestamps across all cameras are within ``sync_threshold_ns`` of each other. Per-camera timestamps (int64, nanoseconds) are saved alongside images as ``rgb_dir/timestamps.npy`` for use during lowdim construction. Returns ------- dict mapping camera name → (timestamps_ns np.ndarray, camera_info dict or None) rr%Tparentsexist_okffs tri_stereoN)FFSDepthPredictorFFSOnnxDepthPredictorFFSTrtDepthPredictor)scaleiters)TRIStereoOnnxDepthPredictorTRIStereoTrtDepthPredictor)variantz![TRIStereo] TRT engine unusable (z), falling back to ONNX) WEIGHTS_HELPz'No TRI Stereo model found for variant 'z'. cJi|]\}}|||  S)r')r*).0namer#r&use_learned_stereos r z._extract_svo2_synchronized..sQ""" D( i  (2D.D!  """rc>i|]\}}||S)r,rPrQcams rrSz._extract_svo2_synchronized..s*OOOYT3D#..00OOOrz Frames per camera: c"i|] }|| SrUrU)rPr/ total_framess rrSz._extract_svo2_synchronized..s#F#F#F1A|A#F#F#Frci|]}|gSrUrU)rPrQs rrSz._extract_svo2_synchronized..s'C'C'CTb'C'C'Crc>i|]\}}||SrUgrabrVs rrSz._extract_svo2_synchronized..s& = = =94dCHHJJ = = =rcTi|]$\}}||r|nd%S)rget_frame_timestamp_ns)rPrQrWactives rrSz._extract_svo2_synchronized..sI    D# vd|Bs))+++   rframez extracting)totalunitdesc dynamic_ncolscRi|]#\}}|||z $SrUr_)rPrQrWfirst_tss rrSz._extract_svo2_synchronized..sD   c #,,..$?   rF010d@@.npzdepth iz.0f)inf_msrefreshc>i|]\}}||SrUr\rVs rrSz._extract_svo2_synchronized..-s&AAAytS$ AAAr z synchronized frames extractedFFSz TRIStereo-z z timing: r!timestamps.npy);r)r&mkdirraiden.depth.ffsrFrGrHengines_availablemodels_availableraiden.depth.tri_stereorKrLengine_available_ensure_loaded RuntimeErrorprintmodel_availablerNzipitemsget_stereo_calibdictmaxvaluesr minallr]r` get_framecv2rotatecolor ROTATE_180imwritestr_IMG_EXTpredictget_right_colorclipastypenpuint16rnsavez_compressedappend timestamp_nsupdate_n_calls _t_inference set_postfixr-uppertiming_summaryget_camera_info Exceptionarrayint64save)6r5r6r7r8r9r:r;r<r=r>r?duse_ffsuse_tri_stereodepth_predictorrFrGrHrKrLprederNcams stereo_calibrQrW rgb_dir_map depth_dir_mapflip_map timestamps frame_idx ref_totalpbartsref_tsadvancedrbfliprfxbaselinedepth_mdepth_mmavg_inflabelresults camera_infots_arrr&rarhrYrRs6 @@@@@r_extract_svo2_synchronizedrws 8-,,,,,  "-- t,,,,u$G"l2N 2NO%          1 1 3 3 R2244OO " 3 3 5 5 R3355OO//iyQQQOO         & 6 6?Q 6 R R V--6HIIID V##%%%"& V V VT!TTTUUUUUUUU V  "*::CU:VV "="=.###A@@@@@"&>P&&#&& """"""%33 """D46L8 8 8ID#!$!5!5!7!7L  OO$**,,OOOL I#F#F#F#F#F#F#F I IJJJs5(++,,KUJ//00MCu%%&&H'C'CU'C'C'CJI> = = = =F        H /;AL''))***I %-ii3y*3M3M      D fmmoo  >B  !i:&=&=     !ZZ\\   RYY[[!!  ID#, 6BtH#47H#H#H"xxzzt $<M"99;;htnLBtH , 6BtH#47H#H#H 6==??##      8 8ID#MMOOED>D?CTCJu{CN;;;E KK-90M0M80M0MMNNPU V V V! D+D1 H*11K!4!4!6!6HB!j#.AAG#f,221e<<CCBINN!K&066q%@@GG RRD"z(CNCCH  M$'Y*A*A*A*AABB(     t  # #E$6 7 7 7 7Q  A  E)b.A"5"5/:RUV:V:V%2_5MMPTTG   w$4$4e  D D DBADJJLLAAA} fmmoo  >B@ JJLLL : : : :;;;Go6:: O&O3E3K3K3M3M&O&O E5EE?#A#A#C#CEEFFF=?GZZ\\ . . c  --//KK    D *T*"(;;; K%(88996BBB - Ns*C D#C;;D&[;; \\Fbag_pathrgb_dir depth_dirrc ddlm}nA#t$r4tdt jgtjdfcYSwxYw|dd|ddtd|jd | |j |}g}d}| rS|||krnI| } |r$tj| jtjn| j} tjt%||d t&z | | jd zdd tj} |rtj| tj} t jt%||d d z | || j|dz }|dzdkrtd|ddd| Std|dt j|tj} t7| dkrt9| dt9| dz dz } | dkrt7| dz | z nd}td|dd| ddt;|dz dkrtd |dd!d} |}n#t>$rYnwxYw| t j!t%|d"z | | |fS)#aqExtract color and depth frames from a RealSense .bag file. Returns (timestamps_ns, camera_info). timestamps_ns is an int64 array of per-frame wall-clock timestamps (nanoseconds since Unix epoch) saved by the RealSense SDK when global_time_enabled is set. The array is also written to ``rgb_dir/timestamps.npy`` for caching across re-conversions. r)RealSenseCamerau9 pyrealsense2 not installed – skipping .bag conversionr!NTrAz Opening  ...rirjrkrlrmrodrt frames )endflushz frames extracted eArz Actual FPS: z.1fz duration: .2fs>@g@z WARNING: FPS uD deviates from expected 30 fps — check camera stream configurationrv)"raiden.cameras.realsenser ImportErrorrrrrrwrQfrom_bagr+r]rrrrrrrrrnrrrrrrlenintabsrrr-r)rrrrr:rr.ridxrbrrr duration_s actual_fpsrs r _extract_bagrGs2<<<<<<< 222 IJJJx"(+++T11112 MM$M... OOD4O000 *x} * * *+++  % %hmX > >FJ C ++--=  !cZ&7&7   "";?P 5;777U[ CS"9"9x"9"99::EBBBK&(..q%88?? JJ  <z(CN;;H C s,=,=,=,= =>>hOOOO%,--- q 9>> %%%%4t < < < <# ++--=& 1 1 1 1222 Xj 1 1 1F 6{{Q&*ooF1I6#= 7AA~~c&kkAo333  NNNNZNNNNOOO zD ! !C ' ' 4JW444    K ,,..       LLNNNGC** + +V444 ; s! ;AA-L LLrseq_dircam_timestamps frame_countscamera_start_times_ns camera_fpscjdfd|D}t|dkr td|D}t d|D}||krt |}t } |D]s\} } t tj| |} t tj| |d} t|| | | | | | | || <| | z | | <ttd||z d z d d || fS|rSt|dkr?t |fd |D}td |Drt |}t } |D]W\} } | dkr | }|} | | } t|| | | | | | | | nd|| <| | z | | <Xd d|D}td||| fS|fS)uTrim per-camera frames to their overlapping recording window. Strategy (tried in order): 1. **Wall-clock timestamp alignment** — if every camera's ``timestamps.npy`` contains Unix-epoch nanoseconds (> year 2020), find the common time range and trim each camera to it. This is the most accurate method. 2. **Recording start-time alignment** — fall back to ``camera_start_times_ns`` from ``metadata.json`` (wall-clock time recorded just before each ``camera.start_recording()`` call). The per-camera start offset in frames is ``(t_start[cam] - t_start_min) * fps / 1e9``. Less accurate than per-frame timestamps but works even when bag timestamps are not wall-clock (e.g. RealSense hardware clock). Renames on-disk jpg/npz files so that frame 0 of every camera corresponds to the same point in time. Returns updated (cam_timestamps, frame_counts). sh,/cxi|]6\}}|t|dkt|dk3||7S)Nr)rr)rPrQr_WALL_CLOCK_MIN_NSs rrSz/_align_cameras_by_timestamp..sQ D" >c"ggkkc"Q%jj;M.M.M b.M.M.Mrc3@K|]}t|dVdSrNrrPrs r z._align_cameras_by_timestamp..s,<.s,;;BC2KK;;;;;;rright)sidez% Timestamp alignment: common window rrrc ji|]/\}}|v |tt|z zdz 0S)r)rround)rPrQtrrt_mins rrSz/_align_cameras_by_timestamp..sR   a|## #eQY*4s:;;<<###rc3"K|] }|dkV dSrrU)rPoffs rrz._align_cameras_by_timestamp..s&333sQw333333rrNz, c38K|]\}}|dk |d|dVdS)r=frNrU)rPr/rs rrz._align_cameras_by_timestamp..s?$$#)1ca1s$$rz Start-time alignment: skipped )rrrrrrrr searchsorted_apply_camera_trimranygetjoin)rrrrrwall_tst_startt_endnew_timestampsnew_frame_countsrQr start_idxend_idxoffsetsn_total offsets_strrrs ` ` @@r_align_cameras_by_timestamprs@:3&,,..G  7||q<<7>>+;+;<<<<<;;'..*:*:;;;;; U??!.11N#L11 #MMOO = =bG < <== bob%gFFFGG"7D)WbIII'))G*;'<t$)09)< && VC8OVVVV   "#33 34%:!;!;q!@!@)002233      06688    33'.."2"2333 3 3 4!.11N#L11 #*==?? = =i>>&t,!#''--"7D)WbIII@Br)G*;'<'>(LL'''  (  ( ( ( ( (R ' ( ( (    ~  %$&)99 : : y !     ~rcamerasn_frames camera_infoscalib robot_datarec_meta flip_camerasright_base_to_left_basewrist_camera_joint_keysc R0123456789:;<d} d;|D]f} | | } | Mt| |kr:t| d| kr!| tj;ng;P|D]M} | | } | 4t| |kr!| tj;nNd<|dkrd};7|5|jtjkr |tjt'|D]4|4fd?|Dd@}.| |4|.dA<| |4|.dB<|% |%4|.dC<|* |*4|.dD<|+|.dE<|,|.dF<|.dG<t=|-4dHdIz dJ5}/t?j |.|/dddn #1swxYwYdS)KuWrite seq_dir/lowdim.npz with all cameras' intrinsics/extrinsics plus joints, action, language. Output keys in lowdim.npz -------------------------- Per-frame keys in each lowdim/.npz ------------------------------------------ ``intrinsics`` dict[camera_name → (3, 3) float32] camera matrix K per camera. ``extrinsics`` dict[camera_name → (4, 4) float32] cam-to-left_arm_base. Wrist cameras: computed per-frame via FK + hand-eye calibration. Scene cameras: static calibrated extrinsics. ``joints`` (14,) float32 follower joint positions at this frame: [left_arm(6), left_gripper(1), right_arm(6), right_gripper(1)]. ``action`` (26,) float32 FK EE poses computed from commanded joint positions (follower_*_joint_cmd), in the left_arm_base frame: [l_pos(3), l_rot9(9), l_gripper(1), r_pos(3), r_rot9(9), r_gripper(1)]. ``language_task`` str task name. ``language_prompt`` str task instruction. rNrrrr rF)endpointkeyrc(dS|dSjdkr dddftjfdt jdDdtjS)Nroc Pg|]"}tjdd|f#SNrinterp)rPrarrrrobot_tss r z8_build_lowdim..interp_to_cam..\s3 Q Q QRYvxQQQT 3 3 Q Q Qraxis)rndimrstackr shaperfloat32)rr$rrr%s @r interp_to_camz$_build_lowdim..interp_to_camSs  !1V^4nnS!! ;4 8q==aaag,Cx Q Q Q Q Q QU39Q<=P=P Q Q Q    &   rkinqc|jjj}t||kr6t j|tj}||dt|<|}||S)z:Call FK, padding q with zeros to the model's nq if needed.r!N)_configurationmodelnqrrzerosr,fk)r.r/r3q_fulls r_fkz_build_lowdim.._fk`s^   % ( q66B;;Xb 333F F8SVV8 Avvayyrcxcywidthroheightrfy)rrr r!rhand_eye_calibration extrinsicssuccessrotation_matrixtranslation_vectorc Pg|]"}tjdd|f#Sr!r")rPrarm_joints_rawrr%s rr&z!_build_lowdim..sD &(N111a44HIIrr' follower_rcg|]m}r75|tjzzn1|tjznSr!)rrr,)rPrT_cam2eer7 arm_jointsis_rightr.rs rr&z!_build_lowdim..s   % U *A)L 4!c#z!}55<.s)  = ==rfollower_l_joint_pos_7dfollower_r_joint_pos_7d))rfollower_l_joint_cmd)rfollower_r_joint_cmdzrobot_data.npz contains 'z' but is missing 'zW'. The recording has no commanded poses and cannot be converted. Re-record the episode.rPc g|]]}tj|dddf|ddddfgtj^SNrCr concatenateflattenrr,rPTs rr&z!_build_lowdim..oNAbqb!eHaBQBi.?.?.A.A#BCCJJ2:VVrc3DK|]}|ddfVdSNrU)rPrr7r.l_cmds rrz _build_lowdim..;NNcc#uQU|44NNNNNNrr\rQc g|]]}tj|dddf|ddddfgtj^SrSrTrWs rr&z!_build_lowdim..rYrc3DK|]}|ddfVdSr[rU)rPrr7r.r_cmds rrz _build_lowdim..r^rc g|]]}tj|dddf|ddddfgtj^SrSrTrWs rr&z!_build_lowdim.. rYrc3DK|]}|ddfVdSr[rU)rPrr7r.l_poss rrz _build_lowdim.. r^rc g|]]}tj|dddf|ddddfgtj^SrSrTrWs rr&z!_build_lowdim..rYrc3DK|]}|ddfVdSr[rU)rPrr7r.r_poss rrz _build_lowdim..r^rcg|]}||Sr!rUrLs rr&z!_build_lowdim..!s)  = ==r task_nametask_instructionlowdimTrAc(i|]\}}||SrUrU)rPrQext_arrrs rrSz!_build_lowdim..7s#TTT g4TTTr) intrinsicsr?jointsaction actual_poses action_joints language_tasklanguage_promptT_left_from_rightriz.pklwb)!rrrrrfloat64r"rlinspacerrndarrayrrr,eyerV _R_FLIP_180r*r r+r startswithtilerU ValueErrorrobjectrwropenpickledump)=rrrrrrrrrrrrrQr robot_ts_rawdurationr-rpinforr8r9r? static_exthe cam_calibr per_frame_ext joint_key joints_partsrqrr action_parts_arm_key_cmd_keyl_posesr_posesrs actual_partsl_actual_posesr_actual_posesaction_joints_partsrtrurv lowdim_dir frame_datafrHr7rIrErrJr.r]rerbrhrr%s= ` ` @@@@@@@@@@@@@r _build_lowdimrs >3$(F    % % >c"gg11c"Q%jjCU6U6UYYrz**F E ~  D##D))B~#b''X"5"52:..%)H(Q,,!~~l33  ("bh..#**2:66HH ||L#66H[h5IIIF''..rz:: 3 8BJ#7         )+J   %%  |#dT$ZB  +w-!#r)Bx.1$*B84j#r "S$t*b$9??? K*   4 C(*JE E |#VARZ000   Y%''DE)4D,D,Di(.I%2256** -GGI&&  )S00,33)+-.bj***Jrr2A2v&)+01)))giirr1u%/3 ,277== ' y!!&$"varz222H!x+<(=RZPPPHRaR!V  h'( gii RaRUO 2#k1'^^I66N)X!&~';A'>!?!?  &$$ ;)++C$// == "         "'x    ! ! ( MD)Ha+;<< 4 M3 4 4 M3 4 4 L1=F|!,,,,$ $(F("66;M ;!##C #   Hh:%%(**D*D BBB BBB  455  hNNNNNNeHooNNNG    ( ( (   aaa1f . . . 455  hNNNNNNeHooNNNG    ( ( (   aaa1f . . .  :^Lq999F*.L  ;!##C  788  XNNNNNNeHooNNNN    / / /   aaa1f . . . 788  XNNNNNNeHooNNNN    / / /   aaa1f . . .  @>,Q???L M0 1 1 M0 1 1 8KT*3333PT HX\\+r::&IIIMhx||,>CC6RRRO8#JTD111 8__''$TTTTAQAQASASTTT& &   #)!9Jx  #)!9Jx  #)5aJ~ &  $*7*:J '&3 ?#(7 $% " ..EJ* + *!. 5 5 ' K A & & & ' ' ' ' ' ' ' ' ' ' ' ' ' ' '#''s9dd "d cd|D}td|D}t|dkrt|d}n#|rd|D}nd}|dd|d dd gd gd |||d d|dd|ddgd|r!t |ndddiddddddidddddd|ddd }|d!r |d!|d!<|d"r |d"|d"<|d#r |d#|d#<t |d$z d%5} tj|| d&'ddddS#1swxYwYdS)(z2Write metadata.json inside the sequence directory.cni|]2\}}|||d|dg3S)r;r:)r)rPrWrs rrSz,_build_sequence_metadata..VsQ C  dhhx  $((7"3"3 4rc,h|]}t|SrU)tuple)rPvs r z+_build_sequence_metadata..[s>>>AuQxx>>>rrorci|]\}}|| SrUrU)rPrWrs rrSz,_build_sequence_metadata.._s???ac1???rNrjrk timestamprobotics)rQraw_idtags)rrnrrlanguagerr rl)taskprompt extensionpngnpzFT)rsparsemetricr2pinhole cam2world) transformr joint_cmd)formatdimscontrolleader) rlabelsr resolution framerater num_framesrrnrpr?rrr event_markers audio_fullaudio_segments metadata.jsonwrindent) rlistrrrrrjsonr) rrrrr resolutions unique_resrmetars r_build_sequence_metadatarNs%++--K >>););)=)=>>>??J :!!*Q-00 ??;+<+<+>+>???  LLb11ll;33L  988 \\,33LLb11||$6;;<  5AGc,--//000aU#$FF *$/4@@("55<< 844)  D:||O$$: ( 9_||L!!4%l3\||$%%..s?VV3VS9_,,..VVVVVVrN)rriterdirrPrs rrzselect_tasks..sm  xxzz VV!))++VVVVV        rc4|jSr!)statst_mtime)rs rzselect_tasks..saffhh'rT)rreversezNo tasks found in roz*** ALL TASKS ***c |i|]9}|jdtd|Dd|:S)z (c3pK|]1}||dz -dV2dS)rroNr)rPrs rrz*select_tasks...sD\\AHHJJ\A MCYCYC[C[\!\\\\\\rz recording(s)))rQsumrrs rrSz select_tasks..s]  6llc\\QYY[[\\\\\lllnorr) fzf_selectzConvert task(s)> zZTab: toggle select | Enter: confirm | Select '*** ALL TASKS ***' to convert everything)rmultiheaderc,g|]}t|SrUrrs rr&z select_tasks..s***1A***rc:g|]}t|SrUr)rPrrs rr&z select_tasks..s# - - -qCq NN - - -r) rsortedrrsysexit raiden.utilsrr)rbase task_dirs _ALL_LABELrchoicesselectedrs @r select_tasksrs* >>E !D  \\^^   ( '   I  )4))***  $JF ('''''lT&\\)Gz"k HX** **** - - - -H - - --r recording_dir episode_dir reconvertc 6789:t|}|s&td|tjd|dz }|s&td|tjdt |d} t |d} | s%| s#tdtjd|rt|n |tz ::dz r|std :iS:dz r-|r+d d l} | :td :: d d td|j tdt| dt| di} |dz } | r;t| 5}tj|} d d d n #1swxYwYd }|dz }|r)t!j|d88fd8jD}d }|dz }|r;t|5}tj|}d d d n #1swxYwYd }|r^d|vrZ|dd}|=t jt!j|t j}|tdi}i}i}d| D}|ot/:fd|D}|r|D]}:dz |z }tt1|d}td |d!|d"|||<d ||<t!jt3|d#z ||<n| ri}| D]}|j}:dz |z }|r3tt1|d||<Xtd$|j d%t7|||<td&||d'|r!t9|nd } | td(| d)td*t| d+|d,kr5d-}!|d.kr |d/krd0|d1}!n |d2krd3|d1}!td4||!t=| |:fd5|D:fd6|Dd7|D| ||||8 }"|"D]G\}\}#}$t|#||<|$||<|#||<td9|d:t|#d'H|r!t9|nd }%| d;i}&| D]}'|'j}:dz |z }:d\}#}$t|#||<|$||<|&|}*t|#d kr|*|#tA|*zn|#||<nd ||<td9|d:t|#d?tG:||| d@A\}}|rt9|77fdB|D}7fdC|D}|D]\}},:dz |z }:d.s333AaQ333rcalibration_results.jsonbimanual_transformrr!zn Warning: bimanual_transform not found in calibration; right wrist extrinsics will be in right_arm_base framecg|] }|j SrU)r+rLs rr&z%convert_recording.. s---Q!&---rc3K|];}dz |z odz |z dz V.!sr''  54 '')) A u_t #&6 6 > > @ @''''''rz*.png Skipping z (already extracted, z frames)rvz Pre-scanning rrtrz Capping SVO2 extraction at z frames (min across cameras) z Extracting z SVO2 file(s) in sync ...r2rkrDr z (scale=)rEz (variant=z Stereo method: c g|] }dz |z  S)rrUrPr/rs rr&z%convert_recording..Ls">>>ago)>>>rc g|] }dz |z  SrmrUrs rr&z%convert_recording..Ms#BBB!')A-BBBrc g|] }|tv SrU) _FLIP_CAMERAS)rPr/s rr&z%convert_recording..Ns:::!1 %:::r) r5r6r7r8r9r:r<r=r>r?u ✓ z: realsense_clock_offsetsrnz (flipped))rr:z frames r)rci|]}|SrUrU)rPrn_mins rrSz%convert_recording..s777Q5777rc4i|]\}}|| |dndSr!rU)rPrrrs rrSz%convert_recording..s?   2 bn6E6 $   rrrlrichi|].}|xtv |t/SrU)get_roler)rPrQcam_cfgroles rrSz%convert_recording..sJ/// $$T** *D/A A A  & A A Arz Building lowdim...) rrrrrrrrrrru ✓ lowdim/ (u ✓ metadata.jsonaudio) dirs_exist_okz*.wavu ✓ audio/ (z segmentru ✓ split_all.jsonmetadata_shared.jsonu ✓ metadata_shared.jsonu, ✓ calibration_results.json (copied from z1 Warning: calibration_results.json not found at convertedrrru ✓ UnifiedDataset ready: )4rr rrrrglobrshutilrmtreerwrQrrrloadrrrlinalginvrr,rrrr+r0rrrrrr rrr runlinkrkeysr r rrrrrcopytreercopyr);rrr<r=r>r?rr cameras_path svo2_files bag_files_shutilr meta_pathrr robot_pathr calib_pathT_left_base_from_right_basematrrr svo2_names svo2_all_donerQrr/ pre_countsr# rgb_dir_checkmax_frames_svo2extra sync_resultsrrbag_max rs_offsetsrrts_path clock_offsetrrrrrrr src_audio_dir dst_audio_dirn_wavsrrrrrrs; @@@@@rconvert_recordingr9s$M""H ??   7X77888  i'L     ?X??@@@   ))(3344J|((1122I i 8999  #.Md;H~4MG%!!5)5 -G--... E/ ! ! # #5 5    w 3'33444 MM$M... ,>w,G,G'H'H#I#I 4  ; ;;;<<<#5h#?#? 4 6Z-66677776@J#j//11222d  & ____    Hc*ooHHHIII E ! !E%%)s*:*:/9///,..:%7::: >>>:>>>BBBBzBBB::z:::&'1    %1$6$6$8$8 9 9 D.64!$VL !%L #)N4 74773v;;777 8 8 8 8-9Bc,%%''(((dG7<>   Dg..//00A FFF1FFF G G G!"L !%L  00G~~ ,W..)~~d33 2>2JFS....PVt$$(,t$ }$ -hm--1M2NOOO# gyt   ![[ T! T "~~d++ v;;??.:.F\****F 4 $(N4  5t55s6{{5556666$?&ll+BCC $$$ NL=L''))**7777,777     '--//    ',,.. = =HD"o,G')D0IUECK00   '2Y4GHFAss.....Axxzz ~G&6677<<<<$$&&''G=))G//////// !!!!" ;% 7     +E + + +,,,Wg|X|TTT    w&MN#m&;&;&=&=">">N')  }DIIIIT-,,W556677 LvLLfkkssrLLLMMMX|,,, $%%% Go-x:P/PQQQ *+++      T K H/I$I J J J NNNN O O O O RjRR S S S) )__ 9Q<// 0000/ 0001/ ... split_all.json metadata_shared.json calibration_results.json *output_dir* defaults to ``/processed_data``. rroc3pK|]1}||dz -|V2dSrrrs rrzconvert_task..s[!((**:;i-9O9O9Q9Q rz)Error: no recording directories found in r processedTrAzFound z recording(s) in u Output →  r)get_dbNunknownFstatuspendingr)r@rBrz (status=rz. (already converted, use --reconvert to force)z Skipped z non-success recording(s).z$No successful recordings to convert.z Converting z successful recording(s) 04d[/z] u → )rr<r=r>r?rrrid)rconverted_data_pathrrrrrru ✓ split_all.json (z episodes, z total frames)ru✓ metadata_shared.jsonru✓ calibration_results.jsonu ✓ Task dataset ready: ) rr rrrrrrQrwrraiden.db.databaserArget_demonstration_by_raw_pathrrboolr enumerater9rrrrrupdate_demonstrationrrnextiterrr!)!r:r;r<r=r>rr<r? task_pathrecording_dirsout_baseepisode_frame_counts_get_db_db success_dirsskippedrec_dirrCalready_converteddemor episode_nameep_dircounts meta_filerep_metarYn_epsrfirst_ep first_meta first_calibs! r convert_taskres0XI      8Y88999  $$&&N  E)EEFFF  ? ##in4 ?'').8<<+- > NN4$N/// I3~&& I I I IJJJ $ $ $ $%%%+-888888gii  LG!))! ? 88WFF#!XXh ::F(,TXXk5-I-I(J(J%     / / / @ @@v@@@ A A A qLGG  )y ) ZglZZZ    qLGG    ( ( ( (@ >7>>>???  4555 EL)) E E EFFF --%% 7zz L( Q!a%QQ#l++QQw|QQ,QQQRRR" LLF '1     714V]]__1E1E  . .0I!! 7)__+"illG+++++++++++++++5<[[q5Q5Q$\2256$\2 ? 88WFF#,,T "&,/KK-      +224455L $ % %E u,OO%  E h))3 / /&1 %1%%%%&&&&&&&&&&&&&&& Q5 Q Q\ Q Q QRRRD-..//HH$6J* J+A ABBB ())) #&@@K. K,F!FGGG ,--- 1x 1 122222s\?E EE1AG GGM33M7 :M7 AO11 O?>O?Q55Q9<Q9)Nr1r2r r3r4)FN)Nrr!)r)Nr2r r3r4F)Nr2r r3FNr4)1__doc__rrrrpathlibrtypingrrrrrrnumpyrr raiden._configr raiden.camera_configr rrr rr__annotations__rrrr,r}rr0rLfloatr{rrrrrsetrrrrr9rerUrrros(((T 33333333333333 ((((((------ && ))&&DcN  Sbh  * *    #     $!%'#MMDzM 9M4jMT M : M  MMMMMM #uRZ$/0 01MMMMh $ EEE EE  E  E  2:x~ %& EEEEb7; W(W( W(hrz223W(sCx.W($DcN3 W(  W(  4Xbj)) *DcN :; W(W(W(W(t             `9=s's' s' #Ys's'sHTN*+ s' D> s' c2:o./ s's's'&bj1s'hrz223s'&d38n5s' s's's's'v :% :% #Y:%sCx.:% :% sHTN*+ :%  :%:%:%:%z&4&tCH~&$&&&& $.$.3$.DI$.$.$.$.\"&#^^^#^^ ^  ^  ^^ #s(^^^^^F !%$(#\3\3\3 \3\3 \3  \3  \3SM\3\3 \3\3\3\3\3\3r