Dataphy SDK Documentation¶

A comprehensive Python SDK for robotics data I/O, dataset management, and augmentation packs.

Features¶

Dataset Management: Fetch, load, inspect, and visualize robotics datasets
Episode Augmentation: Apply augmentations to specific episodes with camera selection
Dataset Augmentation: Create entirely new datasets with multiple augmented versions
Multi-Source Data: Support for Hugging Face Hub, LeRobot, and more
Interactive Visualization: 2D visualization powered by rerun.io
CLI Interface: Rich, user-friendly command-line interface
Backup/Restore System: Safe in-place augmentation with automatic backups
LeRobot Compatibility: Full support for v1.0, v1.1, v2.0, v2.1+ formats

Quick Start¶

Installation¶

# Install base dependencies
poetry install

# Install with visualization support
poetry install --extras rerun
poetry run dataphy-upgrade-rerun

# Verify installation
poetry run dataphy version

Basic Usage¶

# Fetch a LeRobot dataset
dataphy dataset fetch --format lerobot --repo-id carpit680/giraffe_clean_desk2 --output ./dataset

# Inspect dataset
dataphy dataset load --dataset-path ./dataset --info

# Augment single episode
dataphy augment dataset --dataset-path ./dataset --config aug.yaml --episode 0

# Create augmented dataset (3x larger)
dataphy augment dataset --dataset-path ./dataset --output-path ./augmented --config aug.yaml --num-augmented 2

# Visualize in 2D
dataphy dataset visualize --format lerobot --dataset-path ./dataset