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fix timestamps not aligned (TODO: add some tests)

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This commit is contained in:
Remi Cadene
2024-05-28 19:12:08 +00:00
parent c2fd06f765
commit 743812e471
1 changed files with 4 additions and 3 deletions
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7
lerobot/common/datasets/push_dataset_to_hub/aloha_dora_format.py
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@@ -40,7 +40,7 @@ def check_format(raw_dir) -> bool:
return True return True
def load_from_raw(raw_dir: Path, out_dir: Path): def load_from_raw(raw_dir: Path, out_dir: Path, fps: int):
# Load data stream that will be used as reference for the timestamps synchronization # Load data stream that will be used as reference for the timestamps synchronization
reference_key = "observation.images.cam_right_wrist" reference_key = "observation.images.cam_right_wrist"
reference_df = pd.read_parquet(raw_dir / f"{reference_key}.parquet") reference_df = pd.read_parquet(raw_dir / f"{reference_key}.parquet")
@@ -58,7 +58,8 @@ def load_from_raw(raw_dir: Path, out_dir: Path):
df, df,
modality_df, modality_df,
on="timestamp_utc", on="timestamp_utc",
direction="backward", direction="nearest",
tolerance=pd.Timedelta(f"{1/fps} seconds"),
) )
# Remove rows with a NaN in any column. It can happened during the first frames of an episode, # Remove rows with a NaN in any column. It can happened during the first frames of an episode,
@@ -186,7 +187,7 @@ def from_raw_to_lerobot_format(raw_dir: Path, out_dir: Path, fps=None, video=Tru
if not video: if not video:
raise NotImplementedError() raise NotImplementedError()
data_df, episode_data_index = load_from_raw(raw_dir, out_dir) data_df, episode_data_index = load_from_raw(raw_dir, out_dir, fps)
hf_dataset = to_hf_dataset(data_df, video) hf_dataset = to_hf_dataset(data_df, video)
info = { info = {