draft pr

2024-04-12 16:55:32 +01:00
parent 5bd953e8e7
commit 55e484124a
5 changed files with 758 additions and 51 deletions
--- a/lerobot/common/datasets/factory.py
+++ b/lerobot/common/datasets/factory.py
@@ -86,11 +86,10 @@ def make_dataset(
            ]
        )

-    delta_timestamps = cfg.policy.get("delta_timestamps")
-    if delta_timestamps is not None:
-        for key in delta_timestamps:
-            if isinstance(delta_timestamps[key], str):
-                delta_timestamps[key] = eval(delta_timestamps[key])
+    delta_timestamps = cfg.policy.delta_timestamps
+    for key in delta_timestamps:
+        if isinstance(delta_timestamps[key], str):
+            delta_timestamps[key] = eval(delta_timestamps[key])

    dataset = clsfunc(
        dataset_id=cfg.dataset_id,