backup wip

lerobot/common/datasets/lerobot_dataset.py

@@ -198,3 +198,49 @@ class LeRobotDataset(torch.utils.data.Dataset):
         obj.info = info
         obj.videos_dir = videos_dir
         return obj
+
+
+def concatenate_datasets(datasets: list[LeRobotDataset]) -> LeRobotDataset:
+    """ "Take a list of datasets and concatenate them to form one dataset.
+
+    The resulting dataset is reindexed, starting from zero, and preserving the ordering of the provided datasets.
+
+    All datasets are expected to have at least "action" and "observation.state" keys. "observation.image" keys can vary
+    between datasets. Where keys match across datasets, it is expected that the data has a common shape. Note: in future
+    iterations of LeRobot, some of these limitations may be relaxed.
+    """
+
+
+if __name__ == "__main__":
+    sim_datasets = [
+        "lerobot/aloha_sim_insertion_human",
+        "lerobot/aloha_sim_insertion_scripted",
+        "lerobot/aloha_sim_transfer_cube_human",
+        "lerobot/aloha_sim_transfer_cube_scripted",
+    ]
+
+    real_datasets = [
+        "lerobot/aloha_static_battery",
+        "lerobot/aloha_static_candy",
+        "lerobot/aloha_static_coffee",
+        "lerobot/aloha_static_coffee_new",
+        "lerobot/aloha_static_cups_open",
+        "lerobot/aloha_static_fork_pick_up",
+        "lerobot/aloha_static_pingpong_test",
+        "lerobot/aloha_static_pro_pencil",
+        "lerobot/aloha_static_screw_driver",
+        "lerobot/aloha_static_tape",
+        "lerobot/aloha_static_thread_velcro",
+        "lerobot/aloha_static_towel",
+        "lerobot/aloha_static_vinh_cup",
+        "lerobot/aloha_static_vinh_cup_left",
+        "lerobot/aloha_static_ziploc_slide",
+    ]
+
+    concatenate_datasets([LeRobotDataset(dataset_name for dataset_name in real_datasets)])
+
+    # for dataset_name in real_datasets:
+    #     print(f"{dataset_name=}")
+    #     dataset = LeRobotDataset(dataset_name)
+    #     item = next(iter(dataset))
+    #     print(item.keys())