{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "import torch\n",
    "from pprint import pprint\n",
    "import pickle\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [],
   "source": [
    "original_batch_file = \"/home/thomwolf/Documents/Github/ACT/batch_save.pt\"\n",
    "data = torch.load(original_batch_file)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [],
   "source": [
    "#orig: image_data, qpos_data, action_data, is_pad\n",
    "#target: ['observation.images.front', 'observation.images.top', 'observation.state', 'action', 'episode_index', 'frame_index', 'timestamp', 'next.done', 'index', 'action_is_pad']"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [],
   "source": [
    "conv = {}\n",
    "conv['observation.images.front'] = data[0][:, 0]\n",
    "conv['observation.images.top'] = data[0][:, 1]\n",
    "conv['observation.state'] = data[1]\n",
    "conv['action'] = data[2]\n",
    "conv['episode_index'] = np.zeros(data[0].shape[0])\n",
    "conv['frame_index'] = np.zeros(data[0].shape[0])\n",
    "conv['timestamp'] = np.zeros(data[0].shape[0])\n",
    "conv['next.done'] = np.zeros(data[0].shape[0])\n",
    "conv['index'] = np.arange(data[0].shape[0])\n",
    "conv['action_is_pad'] = data[3]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "metadata": {},
   "outputs": [],
   "source": [
    "torch.save(conv, \"/home/thomwolf/Documents/Github/ACT/batch_save_converted.pt\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "lerobot",
   "language": "python",
   "name": "python3"
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  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.1.-1"
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