opentau.configs.ros2lerobot

Classes

RosToLeRobotConfig(input_path, output_path, ...)

Configuration for ROS to LeRobot conversion settings.

class opentau.configs.ros2lerobot.RosToLeRobotConfig(input_path: str = 'input_path', output_path: str = 'output_path', fps: int = 10, joint_order: list[str] = <factory>, robot_type: str = 'unknown', dataset_features: dict[str, ~opentau.configs.types.ROSFeature] = <factory>)[source]

Bases: object

Configuration for ROS to LeRobot conversion settings.

This configuration is used for converting ROS bags to LeRobot dataset format.

input_path

Path to the directory containing input ROS bags. Defaults to “input_path”.

Type:: str

output_path

Path where the converted LeRobot dataset will be saved. Defaults to “output_path”.

Type:: str

fps

Frames per second for the output dataset. Timestamps will be synchronized to this frequency. Defaults to 10.

Type:: int

joint_order

List of joint names defining the order of elements in joint state vectors. Defaults to an empty list.

Type:: list[str]

robot_type

Type of robot being used. Defaults to “unknown”.

Type:: str

dataset_features

Dictionary mapping dataset feature names (e.g., “observation.state”) to their corresponding ROS topic configuration. Defaults to an empty dictionary.

Type:: dict[str, ROSFeature]

__init__(input_path: str = 'input_path', output_path: str = 'output_path', fps: int = 10, joint_order: list[str] = <factory>, robot_type: str = 'unknown', dataset_features: dict[str, ~opentau.configs.types.ROSFeature] = <factory>) → None

dataset_features: dict[str, ROSFeature]

fps: int = 10

input_path: str = 'input_path'

joint_order: list[str]

output_path: str = 'output_path'

robot_type: str = 'unknown'