From 5b4fd8891dd8b36e3c491491abca74f5adfadbca Mon Sep 17 00:00:00 2001
From: Adil Zouitine <adilzouitinegm@gmail.com>
Date: Mon, 29 Apr 2024 12:11:34 +0200
Subject: [PATCH] Update UmiProcessor default fps to 10 (#116)

---
 lerobot/common/datasets/push_dataset_to_hub/umi_processor.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lerobot/common/datasets/push_dataset_to_hub/umi_processor.py b/lerobot/common/datasets/push_dataset_to_hub/umi_processor.py
index fb91ae08..3102eb28 100644
--- a/lerobot/common/datasets/push_dataset_to_hub/umi_processor.py
+++ b/lerobot/common/datasets/push_dataset_to_hub/umi_processor.py
@@ -30,8 +30,8 @@ class UmiProcessor:
     def __init__(self, folder_path: str, fps: int | None = None):
         self.zarr_path = folder_path
         if fps is None:
-            # TODO (azouitine): Add reference to the paper
-            fps = 15
+            # https://arxiv.org/pdf/2402.10329#table.caption.16
+            fps = 10  # For umi cup in the wild
         self._fps = fps
         register_codecs()