Ticket Type
馃挕 Feature Request / Improvement
Environment & System Info
- LeRobot version: 0.6.2 - Platform: macOS-26.5-arm64-arm-64bit-Mach-O - Python version: 3.13.12 - Huggingface Hub version: 1.26.0
- Transformers version: N/A
- Datasets version: N/A
- Numpy version: 2.2.6
- FFmpeg version: N/A
- PyTorch version: 2.11.0
- Torchcodec version: N/A
- Is PyTorch built with CUDA support?: False
- Cuda version: N/A
- GPU model: N/A
- Using GPU in script?: <fill in>
- lerobot scripts: ['lerobot-annotate', 'lerobot-calibrate', 'lerobot-convert-dcp', 'lerobot-dataset-viz', 'lerobot-edit-dataset', 'lerobot-eval', 'lerobot-find-cameras', 'lerobot-find-joint-limits', 'lerobot-find-port', 'lerobot-imgtransform-viz', 'lerobot-info', 'lerobot-record', 'lerobot-replay', 'lerobot-rollout', 'lerobot-setup-can', 'lerobot-setup-motors', 'lerobot-teleoperate', 'lerobot-train', 'lerobot-train-tokenizer']
Description
Hello!
In my case I use lerobot dataset as a tool for policy training and I have a robot capable of high-frequency observation measurements (Franka Emika Panda). To my understanding now the data recording loop has a fixed frequency and is same as teleoperation frequency at which we update the robot. However, I wanted to record the higher-rate observation in the dataset as well. Let's say my vision information can be recorded at 60Hz, but I want my proprioception to be recorded at 500Hz.
I can definitely just push my AI-agent to resolve this issue, but my question is more idea-wise to maintainers. What can be a proper lerobot-way to do so?
I hope that this question can be discussed and I am happy to help with implementation!
Context & Reproduction
No response
Relevant logs or stack trace
Checklist
Additional Info / Workarounds
No response
Ticket Type
馃挕 Feature Request / Improvement
Environment & System Info
Description
Hello!
In my case I use lerobot dataset as a tool for policy training and I have a robot capable of high-frequency observation measurements (Franka Emika Panda). To my understanding now the data recording loop has a fixed frequency and is same as teleoperation frequency at which we update the robot. However, I wanted to record the higher-rate observation in the dataset as well. Let's say my vision information can be recorded at 60Hz, but I want my proprioception to be recorded at 500Hz.
I can definitely just push my AI-agent to resolve this issue, but my question is more idea-wise to maintainers. What can be a proper lerobot-way to do so?
I hope that this question can be discussed and I am happy to help with implementation!
Context & Reproduction
No response
Relevant logs or stack trace
Checklist
mainbranch.Additional Info / Workarounds
No response