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Add resume

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This commit is contained in:
glannuzel
2025-08-07 11:29:15 +02:00
parent 33b6a4ddcd
commit 20f5f45ac2
1 changed files with 21 additions and 11 deletions
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src/lerobot/robots/reachy2/data_acquisition_server.py
+21 -11
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@@ -211,18 +211,28 @@ class DataAcquisitionServicer():
obs_features = hw_to_dataset_features(self.robot.observation_features, "observation")
dataset_features = {**action_features, **obs_features}
# Create the dataset
self.dataset = LeRobotDataset.create(
repo_id=request.dataset_name,
fps=self.fps,
features=dataset_features,
robot_type=self.robot.name,
use_videos=True,
image_writer_threads=4,
)
print(f"Dataset name: {request.dataset_name}")
current_dataset = self.create_dataset(request.dataset_name, DatasetPushState.LOCAL_ONLY, 0)
self.add_dataset_to_json_file(current_dataset, self.dataset_list_path)
if request.resume:
self.dataset = LeRobotDataset(
request.dataset_name,
root="/home/demo/.cache/huggingface/lerobot/" + request.dataset_name,
)
if hasattr(self.robot, "cameras") and len(self.robot.cameras) > 0:
self.dataset.start_image_writer()
else:
# Create the dataset
self.dataset = LeRobotDataset.create(
repo_id=request.dataset_name,
fps=self.fps,
features=dataset_features,
robot_type=self.robot.name,
use_videos=True,
image_writer_threads=4,
)
current_dataset = self.create_dataset(request.dataset_name, DatasetPushState.LOCAL_ONLY, 0)
self.add_dataset_to_json_file(current_dataset, self.dataset_list_path)
# Connect the robot and teleoperator
if not self.robot.is_connected: