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make aloha dora more flexible for A koch arm

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This commit is contained in:
Thomas Wolf
2024-05-29 11:40:02 +02:00
parent ce5329cf44
commit 68a680a9eb
1 changed files with 4 additions and 1 deletions
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5
lerobot/common/datasets/push_dataset_to_hub/aloha_dora_format.py
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@@ -42,7 +42,10 @@ def check_format(raw_dir) -> bool:
def load_from_raw(raw_dir: Path, out_dir: Path):
# Load data stream that will be used as reference for the timestamps synchronization
reference_key = "observation.images.cam_right_wrist"
reference_files = list(raw_dir.glob("observation.images.cam_*.parquet"))
if len(reference_files) == 0:
raise ValueError(f"Missing reference files for camera, starting with in '{raw_dir}'")
reference_key = reference_files[0].stem
reference_df = pd.read_parquet(raw_dir / f"{reference_key}.parquet")
reference_df = reference_df[["timestamp_utc", reference_key]]