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This commit is contained in:
Cadene
2024-04-16 17:14:40 +00:00
parent b241ea46dd
commit 36d9e885ef
24 changed files with 100 additions and 94 deletions
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14
lerobot/common/datasets/utils.py
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@@ -7,9 +7,9 @@ import tqdm
def load_previous_and_future_frames(
item: dict[torch.Tensor],
data_dict: dict[torch.Tensor],
delta_timestamps: dict[list[float]],
item: dict[str, torch.Tensor],
data_dict: dict[str, torch.Tensor],
delta_timestamps: dict[str, list[float]],
tol: float = 0.04,
) -> dict[torch.Tensor]:
"""
@@ -35,12 +35,12 @@ def load_previous_and_future_frames(
- AssertionError: If any of the frames unexpectedly violate the tolerance level. This could indicate synchronization issues with timestamps during data collection.
"""
# get indices of the frames associated to the episode, and their timestamps
ep_data_id_from = item["episode_data_id_from"].item()
ep_data_id_to = item["episode_data_id_to"].item()
ep_data_ids = torch.arange(ep_data_id_from, ep_data_id_to + 1, 1)
ep_data_id_from = item["episode_data_index_from"].item()
ep_data_id_to = item["episode_data_index_to"].item()
ep_data_ids = torch.arange(ep_data_id_from, ep_data_id_to, 1)
# load timestamps
ep_timestamps = data_dict.select_columns("timestamp")[ep_data_id_from : ep_data_id_to + 1]["timestamp"]
ep_timestamps = data_dict.select_columns("timestamp")[ep_data_id_from:ep_data_id_to]["timestamp"]
# we make the assumption that the timestamps are sorted
ep_first_ts = ep_timestamps[0]