nova-export

A local command-line tool (nova-data-cli) that exports NOVA .rrd recordings into robot-learning datasets. It resamples video and action/state streams to a fixed FPS and writes them via pluggable export heads.

Formats

• lerobot_v3 — LeRobot v3.0 dataset (Parquet + MP4).
• groot — LeRobot v3.0 + meta/modality.json, then auto-converted to the GR00T-compatible LeRobot v2.1 layout. See tools/groot_lerobot_conversion/.

Install

uv sync

Usage

uv run nova-data-cli \
    --dataset ./recordings/pick-and-place-demo \
    --config examples/lerobot_export.json \
    --output ./exports/my-dataset

--dataset is either a direct path to the dataset directory (as above) or a name resolved under --recordings-dir (default $STORAGE_DIR or ./recordings), i.e. --recordings-dir ./recordings --dataset pick-and-place-demo. Recordings are expected at <recordings-dir>/<dataset>/<recording_id>/recording.rrd. For groot, add "format": "groot" to the config and the CLI runs the v2.1 conversion automatically (needs uv + ffmpeg).

Config

A JSON file selecting the format, FPS, and which sources map to action / state / cameras. Examples: examples/. Schema: ExportConfig.

📖 See the Export guide for a walkthrough of every config field, the export formats, camera resizing, and how the trimming modes choose episode boundaries (with figures).

Tests

uv run --group dev pytest          # add --run-slow for RRD integration tests