GalaxeaLeRobotToolkit

Convert rosbag / mcap to lerobot

For updated 1.1 Version

• If you run the script locally, temporary lerobot datasets before merging will be stored at /tmp

Enviroment Requirements

1. source Ros2 Humble setup.bash
2. conda env with python3.10
3. pip install dependencies below:

pip install git+https://github.com/OpenGalaxea/GalaxeaLeRobot.git
pip install loguru pyquaternion scipy

4. build hdas_msg

colcon build --packages-select hdas_msg

Usage

Edit dataset_name, input_dir, output_dir and robot_type in run.sh, then

# build hdas_msg before source
source install/setup.bash 
bash run.sh