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Fixed the mismatched first frame in converting lerobot #382

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Fixed the mismatched first frame in converting lerobot #382

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7 changes: 5 additions & 2 deletions isaaclab_arena_gr00t/lerobot/convert_hdf5_to_lerobot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -536,8 +536,11 @@ def convert_hdf5_to_lerobot(config: Gr00tDatasetConfig):
assert config.pov_cam_name_sim in trajectory["camera_obs"]

frames = np.array(trajectory["camera_obs"][config.pov_cam_name_sim])
# remove last frame due to how Lab reports observations
frames = frames[:-1]

# The HDF5 dataset can include the previous episode's last render as the
# first frame of the current episode because camera_obs is captured in pre-step before finishing reset.
# Drop that first frame to align the episode length.
frames = frames[1:]
assert len(frames) == length
queue.put((new_video_path, frames, config.fps, "image"))

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