From c17dffe944dac4ea33b1d1b941bafa6e91e0c352 Mon Sep 17 00:00:00 2001
From: Cadene <re.cadene@gmail.com>
Date: Fri, 5 Apr 2024 11:47:15 +0000
Subject: [PATCH] policies/utils.py

---
 lerobot/common/policies/utils.py | 10 ++++++++++
 1 file changed, 10 insertions(+)
 create mode 100644 lerobot/common/policies/utils.py

diff --git a/lerobot/common/policies/utils.py b/lerobot/common/policies/utils.py
new file mode 100644
index 00000000..b0503fe4
--- /dev/null
+++ b/lerobot/common/policies/utils.py
@@ -0,0 +1,10 @@
+def populate_queues(queues, batch):
+    for key in batch:
+        if len(queues[key]) != queues[key].maxlen:
+            # initialize by copying the first observation several times until the queue is full
+            while len(queues[key]) != queues[key].maxlen:
+                queues[key].append(batch[key])
+        else:
+            # add latest observation to the queue
+            queues[key].append(batch[key])
+    return queues