openral-dataset

openral-dataset — rosbag2 ↔ LeRobotDataset v3 bridge. Every skill execution (sim or hardware) becomes a row in a LeRobotDataset v3.0 (codebase_version="3.0", lerobot>=0.5.1). Successful and failed episodes are both persisted; the per-row next.success flag and the per-dataset meta/info.json["metadata"] ["dataset_success_rate"] let downstream consumers filter.

Public API

from openral_core import RobotDescription
from openral_dataset import LeRobotDatasetSink, RolloutRecorder

robot = RobotDescription.from_yaml("robots/so100_follower/robot.yaml")
sink = LeRobotDatasetSink(
    root="/tmp/ds",
    robot=robot,
    fps=30.0,
    repo_id="openral/dataset-pick-cube",
    license="CC-BY-4.0",
)
with RolloutRecorder(
    robot=robot,
    task_string="pick the cube",
    fps=30.0,
    sinks=[sink],
    repo_id="openral/dataset-pick-cube",
) as rec:
    rec.episode_start()
    # for each tick:
    rec.record_frame(
        observation_state=state_vec,    # (state_dim,) float32
        images={"camera1": rgb_frame},  # camera_key → (H, W, 3) uint8
        action=action_vec,              # (action_dim,) float32
        reward=0.0,
        terminated=False,
        truncated=False,
    )
    rec.episode_end(success=True)

Components

• RolloutRecorder — in-memory per-rollout accumulator with multi-sink fan-out. Writes the openral.dataset.repo_id / episode_idx / frame_idx OTel attributes on the active rskill.tick span so the Jaeger trace can be joined to the on-disk frame.
• DatasetSink Protocol — every sink (online / offline) implements open_episode / write_frame / close_episode / finalize.
• LeRobotDatasetSink — wraps the real lerobot.datasets.LeRobotDataset.create / add_frame / save_episode / finalize. Lazy-imports lerobot; raises ROSConfigError with an install hint when lerobot is absent.
• features_from_robot — pure RobotDescription → LeRobot v3 features dict mapping. No I/O, no lerobot import.

The rest of the dataset-bridge PR series has since landed:

• PR2 (partial) — SensorRosPublisher in python/sensors/ (ros_publisher.py) ships and is tested. The wrapping packages/openral_sensors_ros/ lifecycle node specified by the dataset-bridge design is not yet built, so feeding live camera topics into a recorder on the hardware path is the one remaining gap.
• PR3 ✅ — Rosbag2Sink (mcap, daemon writer thread) + openral_msgs/Tick / openral_msgs/Episode IDLs + explicit episode_start / episode_end API on DeployRunner (bag.py).
• PR4 ✅ — Rosbag2ToLeRobotConverter.from_bag + openral dataset from-bag CLI subcommand (converter.py).
• PR5 ✅ — openral dataset push with consent prompt + _hf_publish shared helper de-duped from tools/rskill_publisher.py.

CLI surface

Sim path — openral sim run accepts three flags (PR1):

• --dataset-out PATH — write a LeRobotDataset v3 to PATH as the sim runs. Path must not pre-exist; lerobot v3 refuses to write into a populated root.
• --dataset-repo-id STR — repo id stored in meta/info.json. Defaults to openral/dataset-<robot_id>. Not pushed by openral sim run; openral dataset push owns publishing.
• --dataset-license SPDX — defaults to CC-BY-4.0 (the LeRobot convention). PII-bearing datasets must set a more restrictive license; the openral dataset push consent prompt enforces this.

Hardware / rosbag path — record on a live ROS 2 graph, then convert offline:

• openral record --profile slim|full --out DIR — wrap ros2 bag record with curated topic profiles (mcap storage). --dry-run prints the composed argv without a sourced ROS 2 install.
• openral dataset from-bag BAG --robot robot.yaml --output DS — replay a Rosbag2Sink mcap into a LeRobotDataset v3 (--repo-id / --license / --fps optional). PR4.
• openral dataset push DS [--repo-id ID] [--yes] [--dry-run] — consent-gated upload of a local dataset root to the HF Hub. PR5.

Verification

uv run pytest python/dataset/tests/ -v
uv run mypy --strict -p openral_dataset
uv run ruff check python/dataset/

End-to-end against a real lerobot.datasets.LeRobotDataset v3.0 round-trip:

uv run pytest python/dataset/tests/test_sink_lerobot.py -v

Per CLAUDE.md §1.11 (no mocks): every test loads the real SO-100 RobotDescription from robots/so100_follower/robot.yaml and exercises the real lerobot.datasets.LeRobotDataset writer. Tests pytest.skip with a typed reason on hosts without lerobot>=0.5.1 installed (it lives behind the libero / metaworld dependency groups today).

Coverage scope

• Sim path is covered end-to-end: tests/sim/test_dataset_emission.py drives openral sim run --dataset-out against aloha_transfer_cube.yaml with real ACT weights + gym-aloha physics + SVT-AV1 video encoding, then re-opens the produced v3 dataset (CUDA + lerobot + gym_aloha gated; skips on CPU/CI).
• Hardware / rosbag path is covered only in unit isolation: tests/unit/test_deploy_runner_dataset_recording.py drives DeployRunner + Rosbag2Sink directly, plus the converter / CLI unit tests. It has not been exercised through openral deploy sim or a live ROS 2 graph — the deploy-sim node (rskill_runner_node.py) does not yet construct or attach a RolloutRecorder.