huggingface · villekuosmanen · Aug 18, 2024 · Aug 18, 2024 · Aug 18, 2024 · Aug 19, 2024
diff --git a/lerobot/common/datasets/push_dataset_to_hub/cam_png_format.py b/lerobot/common/datasets/push_dataset_to_hub/cam_png_format.py
@@ -88,12 +88,12 @@ def from_raw_to_lerobot_format(
         raise NotImplementedError
 
     # sanity check
-    check_format(raw_dir)
+    check_format(videos_dir)
 
     if fps is None:
         fps = 30
 
-    data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes)
+    data_dict = load_from_raw(videos_dir, fps, video, episodes)
     hf_dataset = to_hf_dataset(data_dict, video)
     episode_data_index = calculate_episode_data_index(hf_dataset)
     info = {

diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py
@@ -333,6 +333,9 @@ def connect(self):
         # needs to be re-created.
         self.camera = cv2.VideoCapture(camera_idx)
 
+        if not self.camera.isOpened():
+            raise OSError(f"Camera {self.camera_index} could not be opened.")
+
         if self.fps is not None:
             self.camera.set(cv2.CAP_PROP_FPS, self.fps)
         if self.width is not None:

diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py
@@ -125,6 +125,7 @@ def init_keyboard_listener():
     events["exit_early"] = False
     events["rerecord_episode"] = False
     events["stop_recording"] = False
+    events["reset_robot"] = False
 
     if is_headless():
         logging.warning(
@@ -149,6 +150,9 @@ def on_press(key):
                 print("Escape key pressed. Stopping data recording...")
                 events["stop_recording"] = True
                 events["exit_early"] = True
+            elif key == keyboard.Key.down:
+                print("Resetting robot...")
+                events["reset_robot"] = True
         except Exception as e:
             print(f"Error handling key press: {e}")
 
@@ -307,6 +311,9 @@ def reset_environment(robot, events, reset_time_s):
             if events["exit_early"]:
                 events["exit_early"] = False
                 break
+            if events["reset_robot"]:
+                robot.reset()
+                events["reset_robot"] = False
 
 
 def stop_recording(robot, listener, display_cameras):