Reachy2 hdf5 recorder

Records through SDK. Right now there are issues with the trunk camera, so it needs to be plugged to the computer running the script.

Installation

pip install -r requirements.txt

Not available on pypi, so you need to install the following packages manually:

• pollen-vision on branch develop https://github.com/pollen-robotics/pollen-vision, only extra [depthai_wrapper] needed
• reachy2_sdk https://github.com/pollen-robotics/reachy2-sdk
• install https://github.com/pollen-robotics/gst-signalling-py

For gstreamer stuff

If on ubuntu 22.04, compile gstreamer manually to have the right version : 1.22.8

On higher versions of ubuntu, you can install gstreamer through apt https://gstreamer.freedesktop.org/documentation/installing/on-linux.html?gi-language=c

TODO list plugins to install

Usage

python3 <reachy1/reachy2>_record_episode_hdf5.py -n <session_name> -l <episode_length> --robot_ip <robot_ip>

All recordings will be saved in ./data/<session_name/>

For a given session, the script will create new episodes each time it is called in ./data/<session_name/episode_<episode_number>.hdf5