Upload prep_lerobot.py with huggingface_hub

prep_lerobot.py

@@ -56,12 +56,17 @@ def main():
             ci, fi = r["data/chunk_index"], r["data/file_index"]
             fyy = f"file-{fi:03d}"
 
+            # Prefer the VALIDATED+CORRECTED trajectory if Data Validation wrote one (clamp+smooth);
+            # fall back to the raw retarget. This is what makes the pushed dataset the corrected one.
+            corrected = str(Path(hp).with_name("corrected.hdf5"))
+            src = corrected if os.path.exists(corrected) else hp
+
             dst = Path(a.retgt_out) / cat / f"clip_{fyy}_ep{ep}"
             dst.mkdir(parents=True, exist_ok=True)
             link = dst / "retargeted.hdf5"
             if link.is_symlink() or link.exists():
                 link.unlink()
-            os.symlink(os.path.abspath(hp), link)
+            os.symlink(os.path.abspath(src), link)
 
             vid_rel = f"{tb.PREFIX}{cat}/videos/observation.images.camera/chunk-{ci:03d}/{fyy}.mp4"
             items.append(vid_rel)