fixed merge conflicts

lerobot/common/robot_devices/control_utils.py

@@ -287,11 +287,6 @@ def control_loop(
 
         if dataset is not None:
             frame = {**observation, **action}
-<<<<<<< HEAD
-            if "next.reward" in events:
-                frame["next.reward"] = events["next.reward"]
-=======
->>>>>>> main
             dataset.add_frame(frame)
 
         if display_cameras and not is_headless():
@@ -375,11 +370,7 @@ def sanity_check_dataset_robot_compatibility(
 
     mismatches = []
     for field, dataset_value, present_value in fields:
-<<<<<<< HEAD
-        diff = DeepDiff(dataset_value, present_value)
-=======
         diff = DeepDiff(dataset_value, present_value, exclude_regex_paths=[r".*\['info'\]$"])
->>>>>>> main
         if diff:
             mismatches.append(f"{field}: expected {present_value}, got {dataset_value}")
 

lerobot/scripts/control_robot.py

@@ -200,10 +200,7 @@ def record(
     video: bool = True,
     run_compute_stats: bool = True,
     push_to_hub: bool = True,
-<<<<<<< HEAD
-=======
     tags: list[str] | None = None,
->>>>>>> main
     num_image_writer_processes: int = 0,
     num_image_writer_threads_per_camera: int = 4,
     display_cameras: bool = True,
@@ -266,10 +263,6 @@ def record(
             use_videos=video,
             image_writer_processes=num_image_writer_processes,
             image_writer_threads=num_image_writer_threads_per_camera * len(robot.cameras),
-<<<<<<< HEAD
-            features=extra_features,
-=======
->>>>>>> main
         )
 
     if not robot.is_connected:
@@ -342,11 +335,7 @@ def record(
     dataset.consolidate(run_compute_stats)
 
     if push_to_hub:
-<<<<<<< HEAD
-        dataset.push_to_hub()
-=======
         dataset.push_to_hub(tags=tags)
->>>>>>> main
 
     log_say("Exiting", play_sounds)
     return dataset
@@ -360,11 +349,7 @@ def replay(
     episode: int,
     fps: int | None = None,
     play_sounds: bool = True,
-<<<<<<< HEAD
-    local_files_only: bool = True,
-=======
     local_files_only: bool = False,
->>>>>>> main
 ):
     # TODO(rcadene, aliberts): refactor with control_loop, once `dataset` is an instance of LeRobotDataset
     # TODO(rcadene): Add option to record logs
@@ -519,21 +504,12 @@ if __name__ == "__main__":
             "Not enough threads might cause low camera fps."
         ),
     )
-<<<<<<< HEAD
-    # parser_record.add_argument(
-    #     "--force-override",
-    #     type=int,
-    #     default=0,
-    #     help="By default, data recording is resumed. When set to 1, delete the local directory and start data recording from scratch.",
-    # )
-=======
     parser_record.add_argument(
         "--resume",
         type=int,
         default=0,
         help="Resume recording on an existing dataset.",
     )
->>>>>>> main
     parser_record.add_argument(
         "-p",
         "--pretrained-policy-name-or-path",

lerobot/scripts/visualize_dataset.py

@@ -275,16 +275,10 @@ def main():
     kwargs = vars(args)
     repo_id = kwargs.pop("repo_id")
     root = kwargs.pop("root")
-<<<<<<< HEAD
-
-    logging.info("Loading dataset")
-    dataset = LeRobotDataset(repo_id, root=root, local_files_only=True)
-=======
     local_files_only = kwargs.pop("local_files_only")
 
     logging.info("Loading dataset")
     dataset = LeRobotDataset(repo_id, root=root, local_files_only=local_files_only)
->>>>>>> main
 
     visualize_dataset(dataset, **vars(args))
 

lerobot/scripts/visualize_dataset_html.py

@@ -288,13 +288,9 @@ def main():
     kwargs = vars(args)
     repo_id = kwargs.pop("repo_id")
     root = kwargs.pop("root")
-<<<<<<< HEAD
-    dataset = LeRobotDataset(repo_id, root=root, local_files_only=True)
-=======
     local_files_only = kwargs.pop("local_files_only")
 
     dataset = LeRobotDataset(repo_id, root=root, local_files_only=local_files_only)
->>>>>>> main
     visualize_dataset_html(dataset, **kwargs)