Add resume

src/lerobot/robots/reachy2/data_acquisition_server.py

@@ -211,6 +211,16 @@ class DataAcquisitionServicer():
         obs_features = hw_to_dataset_features(self.robot.observation_features, "observation")
         dataset_features = {**action_features, **obs_features}
 
+        print(f"Dataset name: {request.dataset_name}")
+
+        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,