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feat(init audio buffer): adding a separate parameter for the initial audio buffer size

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CarolinePascal
2025-05-23 16:04:28 +02:00
parent 0fbcbcdb2e
commit e620395416
3 changed files with 10 additions and 3 deletions
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9
src/lerobot/scripts/lerobot_record.py
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@@ -84,7 +84,12 @@ from lerobot.configs.policies import PreTrainedConfig
from lerobot.datasets.image_writer import safe_stop_image_writer
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
from lerobot.datasets.utils import DEFAULT_AUDIO_CHUNK_DURATION, build_dataset_frame, combine_feature_dicts
from lerobot.datasets.utils import (
DEFAULT_AUDIO_CHUNK_DURATION,
DEFAULT_INITIAL_AUDIO_BUFFER_DURATION,
build_dataset_frame,
combine_feature_dicts,
)
from lerobot.datasets.video_utils import VideoEncodingManager
from lerobot.microphones.utils import (
async_microphones_start_recording,
@@ -345,7 +350,7 @@ def record_loop(
# Fill audio buffers if needed
if robot.microphones:
busy_wait(DEFAULT_AUDIO_CHUNK_DURATION)
busy_wait(DEFAULT_INITIAL_AUDIO_BUFFER_DURATION)
timestamp = 0
start_episode_t = time.perf_counter()