OpenH_LeRobot

Open-H dataset recorder — a small Python toolchain for recording multi-modal surgical robotics datasets (video + kinematics), synchronizing them, and converting the result into the LeRobot dataset format.

This repository currently contains a set of standalone scripts (no package structure) intended to be run from the repo root. :contentReference[oaicite:0]{index=0}

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What this repo does

• Record image sequences from one or more cameras (e.g., endoscope streams, external cameras). :contentReference[oaicite:1]{index=1}
• Record robot kinematics (e.g., da Vinci / dVRK telemetry exported to CSV-like logs). :contentReference[oaicite:2]{index=2}
• Synchronize camera frames to kinematic samples (nearest-timestamp matching / alignment logic handled in the synchronizer script). :contentReference[oaicite:3]{index=3}
• Convert a recorded dataset into LeRobot (v2.x-style) structure for training/benchmarking. :contentReference[oaicite:4]{index=4}
• Provide small helpers to validate formatting, reallocate episodes, and compute total video hours. :contentReference[oaicite:5]{index=5}

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Repository layout

Top-level scripts (as of the latest repo view):

• RecordingLauncher.py — orchestration entrypoint to run recording components. :contentReference[oaicite:6]{index=6}
• daVinciFrameSequenceRecorder.py — camera/image-sequence recorder. :contentReference[oaicite:7]{index=7}
• daVinciKinematicsRecorder.py — kinematics recorder/logger. :contentReference[oaicite:8]{index=8}
• Synchronizer.py — aligns image timestamps to kinematics (and produces synchronized outputs). :contentReference[oaicite:9]{index=9}
• dvrk_zarr_to_lerobot.py — conversion utility to LeRobot dataset format. :contentReference[oaicite:10]{index=10}
• validate_formatting.py — checks that output files/folders match expected conventions. :contentReference[oaicite:11]{index=11}
• reallocate_episodes.py — reorganize/renumber episodes between splits or categories. :contentReference[oaicite:12]{index=12}
• video_hour_counter.py — sums duration over videos in a folder. :contentReference[oaicite:13]{index=13}
• helpers/ — utility functions used by the scripts. :contentReference[oaicite:14]{index=14}

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Quickstart

1) Clone

git clone https://github.com/ABC-iRobotics/OpenH_LeRobot.git
cd OpenH_LeRobot