egodex: add facade (egodex.py) + runnable demo, switch converter to Hdf5File

Add the thin facade the blog/notebook import (convert -> add_state_features ->
add_skeleton_features -> embed_frames -> query) and a copy-paste egodex_demo.py
showing pose-only, text-only, and combined pose x text queries.

Refresh the local deps to the verified versions: egodex_lerobot.py now reads HDF5
via Daft's native Hdf5File type (one row per episode) instead of the vendored
hdf5_example reader; minor clip_features/skeleton_features cleanups. Add
requirements-egodex.txt.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Author: sgarimel

datasets/egodex/clip_features.py

@@ -20,6 +20,9 @@
 # Resolve the device ONCE. CUDA on the EC2 GPU box; CPU/MPS for a local smoke
 # test. gpus=0 when there's no CUDA so @daft.cls doesn't demand a GPU on a CPU
 # machine. Force with CLIP_DEVICE=cpu (e.g. to test the CPU path on a Mac).
+_HAS_CUDA = torch.cuda.is_available()
+GPUS = 1 if _HAS_CUDA else 0
+
 
 def _auto_device() -> str:
     if _HAS_CUDA:
@@ -28,15 +31,13 @@ def _auto_device() -> str:
         return "mps"
     return "cpu"
 
-_HAS_CUDA = torch.cuda.is_available()
-GPUS = 1 if _HAS_CUDA else 0
 
 DEVICE = os.environ.get("CLIP_DEVICE", _auto_device())
 DTYPE = torch.float16 if DEVICE == "cuda" else torch.float32
 
 # Episodes to embed, identified by episode_index (the dataset's native per-frame
 # key). Fill in the indices for your scenarios — e.g. one per task type.
-EPISODES: list[int] = [1, 2, 3]  # example; list the episode_index values you want to embed
+EPISODES: list[int] = [0, 1, 4, 6, 7, 9, 13, 15, 26, 29, 31, 32, 34, 36, 39, 40, 41, 50, 54, 57, 58, 60, 62, 66, 76, 82, 83, 84, 88, 89, 93, 100, 104, 109, 113, 114, 118, 120, 123, 125, 129, 132, 135, 136, 137, 144, 145, 146, 147, 149, 154, 156, 158, 159, 161, 163, 165, 166, 168, 172, 173, 179, 181, 182, 185, 187, 189, 191, 192, 197, 203, 204, 214, 215, 220, 227, 233, 236, 237, 246, 250, 254, 255, 257, 260, 261, 268, 269, 271, 272, 278, 282, 286, 288, 290, 294, 299, 302, 303, 308, 312, 319, 321, 323, 328, 329, 330, 333, 334, 337, 341, 342, 344, 346, 349, 350, 354, 356, 367, 371, 372, 373, 374, 375, 379, 382, 383, 388, 400, 401, 404, 406, 407, 410, 412, 413, 415, 417, 419, 420, 428, 429, 431, 444, 445, 446, 454, 459, 460, 464, 468, 470, 471, 472, 474, 475, 479, 480, 484, 487, 490, 493, 494, 497, 504, 505, 507, 509, 511, 512, 520, 521, 529, 531, 533, 534, 540, 541, 542, 543, 546, 550, 552, 564, 567, 570, 571, 572, 575, 576, 577, 581, 582, 583, 584, 586, 596, 599, 601, 604, 606, 607, 609, 612, 618, 619, 620, 628, 630, 632, 637, 638, 639, 640, 643, 645, 648, 655, 658, 663, 667, 669, 670, 671, 678, 682, 689, 693, 698, 710, 715, 716, 728, 730, 735, 738, 745, 746, 753, 757, 759, 764, 765, 769, 770, 772, 774, 775, 778, 779, 780, 782, 783, 786, 787, 789, 797, 798, 802, 803, 810, 811, 813, 816, 826, 827, 832, 833, 834, 835, 836, 837, 838, 842, 844, 848, 851, 852, 855, 858, 861, 862, 874, 881, 882, 883, 884, 889, 892, 894, 895, 896, 901, 903, 904, 905, 908, 909, 912, 913, 921, 928, 940, 944, 951, 953, 954, 956, 958, 964, 969, 977, 978, 980, 981, 983, 991, 994, 995, 999, 1015, 1016, 1020, 1026, 1027, 1034, 1042, 1043, 1046, 1050, 1052, 1057, 1060, 1061, 1063, 1064, 1065, 1066, 1068, 1073, 1075, 1089, 1104, 1106, 1107, 1110, 1111, 1125, 1127, 1128, 1134, 1140, 1141, 1146, 1147, 1150, 1154, 1158, 1160, 1165, 1175, 1178, 1179, 1185, 1186, 1187, 1189, 1192, 1197, 1198, 1201, 1203, 1205, 1207, 1213, 1218, 1220, 1222, 1224, 1225, 1226, 1229, 1230, 1233, 1234, 1236, 1238, 1239, 1240, 1242, 1250, 1251, 1260, 1261, 1270, 1275, 1278, 1289, 1293, 1294, 1295, 1298, 1303, 1306, 1310, 1313, 1318, 1320, 1322, 1326, 1328, 1329, 1331, 1332, 1335, 1339, 1345, 1352, 1354, 1362, 1364, 1365, 1368, 1369, 1372, 1373, 1375, 1380, 1381, 1382, 1383, 1385, 1390, 1392, 1393, 1394, 1402, 1407, 1410, 1414, 1416, 1419, 1421, 1424, 1430, 1432, 1434, 1442, 1443, 1444, 1446, 1449, 1450, 1452, 1455, 1460, 1462, 1463, 1466, 1468, 1471, 1478, 1479, 1481, 1483, 1489, 1498, 1502, 1504, 1508, 1510, 1511, 1512, 1516, 1520, 1521, 1522, 1523, 1525, 1538, 1541, 1542, 1548, 1550, 1552, 1562, 1565, 1570, 1571, 1573, 1576, 1577, 1583, 1587, 1589, 1590, 1591, 1592, 1595, 1601, 1602, 1605, 1613, 1617, 1618, 1622, 1624, 1630, 1631, 1633, 1643, 1645, 1647, 1651, 1652, 1658, 1660, 1662, 1671, 1673, 1678, 1682, 1684, 1685, 1697, 1698, 1699, 1700, 1702, 1707, 1708, 1710, 1711, 1713, 1717, 1719, 1720, 1721, 1722, 1727, 1728, 1729, 1732, 1733, 1737, 1743, 1744, 1745, 1746, 1747, 1750, 1752, 1763, 1765, 1766, 1768, 1777, 1778, 1782, 1783, 1786, 1799, 1807, 1811, 1813, 1818, 1819, 1820, 1821, 1822, 1824, 1827, 1828, 1829, 1832, 1834, 1835, 1837, 1839, 1845, 1849, 1855, 1857, 1858, 1859, 1862, 1865, 1866, 1875, 1877, 1878, 1879, 1887, 1892, 1894, 1909, 1912, 1913, 1916, 1926, 1928, 1930, 1931, 1933, 1936, 1938, 1941, 1948, 1951, 1952, 1953, 1958, 1962, 1970, 1971, 1973, 1975, 1979, 1990, 1991, 1992, 1995, 1998, 2001, 2002, 2004, 2007, 2008, 2014, 2015, 2017, 2018, 2021, 2025, 2029, 2034, 2036, 2038, 2041, 2042, 2054, 2057, 2062, 2067, 2068, 2076, 2077, 2080, 2082, 2083, 2094, 2097, 2114, 2115, 2121, 2125, 2129, 2130, 2133, 2134, 2135, 2137, 2138, 2142, 2143, 2145, 2146, 2148, 2150, 2153, 2154, 2157, 2160, 2164, 2167, 2168, 2170, 2171, 2176, 2181, 2184, 2185, 2188, 2193, 2195, 2203, 2213, 2214, 2223, 2224, 2226, 2227, 2229, 2233, 2238, 2241, 2242, 2246, 2247, 2249, 2255, 2257, 2263, 2265, 2279, 2286, 2287, 2292, 2296, 2297, 2299, 2309, 2312, 2318, 2324, 2327, 2331, 2333, 2335, 2339, 2342, 2350, 2351, 2357, 2359, 2374, 2379, 2382, 2387, 2389, 2395, 2397, 2401, 2404, 2406, 2415, 2417, 2421, 2429, 2435, 2442, 2443, 2444, 2446, 2448, 2450, 2451, 2456, 2458, 2462, 2465, 2466, 2468, 2469, 2470, 2473, 2477, 2480, 2482, 2483, 2488, 2491, 2497, 2499, 2502, 2505, 2506, 2507, 2509, 2516, 2519, 2523, 2528, 2532, 2535, 2541, 2542, 2543, 2547, 2549, 2553, 2559, 2561, 2562, 2566, 2567, 2569, 2570, 2571, 2580, 2581, 2588, 2589, 2593, 2595, 2597, 2600, 2601, 2610, 2614, 2616, 2622, 2623, 2625, 2626, 2629, 2638, 2641, 2648, 2649, 2650, 2658, 2659, 2665, 2677, 2684, 2687, 2689, 2693, 2696, 2701, 2702, 2704, 2705, 2709, 2712, 2715, 2716, 2719, 2726, 2728, 2736, 2739, 2742, 2745, 2748, 2753, 2755, 2758, 2759, 2760, 2762, 2767, 2769, 2778, 2779, 2780, 2782, 2783, 2786, 2787, 2788, 2789, 2790, 2795, 2797, 2799, 2801, 2804, 2806, 2810, 2811, 2813, 2820, 2827, 2829, 2834, 2844, 2846, 2856, 2857, 2858, 2859, 2861, 2862, 2864, 2866, 2868, 2869, 2870, 2873, 2874, 2878, 2882, 2883, 2886, 2888, 2889, 2890, 2894, 2895, 2896, 2897, 2898, 2903, 2904, 2907, 2908, 2909, 2916, 2922, 2925, 2927, 2931, 2932, 2934, 2941, 2943, 2947, 2950, 2955, 2956, 2960, 2969, 2970, 2971, 2977, 2978, 2979, 2980, 2981, 2982, 2989, 2991, 2996, 2999, 3004, 3006, 3007, 3010, 3011, 3026, 3028, 3032, 3034, 3035, 3036, 3038, 3042, 3048, 3049, 3051, 3053, 3054, 3057, 3062, 3063, 3065, 3068, 3074, 3075, 3077, 3081, 3083, 3084, 3085, 3089, 3095, 3096, 3102, 3103, 3104, 3109, 3123, 3125, 3128, 3129, 3131, 3132, 3138, 3140, 3142, 3144, 3149, 3150, 3155, 3159, 3163, 3174, 3177, 3179, 3185, 3190, 3191, 3193, 3196, 3205, 3207, 3208, 3209, 3210, 3211, 3216, 3217, 3218, 3219, 3221, 3222, 3230, 3232]
 
 SUBSAMPLE = 30  # keep 1 of every 30 frames (~1 fps); semantic content barely changes between adjacent frames
 MODEL_ID = "google/siglip2-base-patch16-224"