Fixed merge errors

[DongyunRobotis]

Fixed an issue where the task_index was being merged based on the first episode when merging episodes in the .parquet data.

[gemini-code-assist]

Summary of Changes

Hello @DongyunRobotis, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request addresses a critical bug in the data merging process, specifically concerning the task_index in .parquet files. Previously, when combining multiple datasets, the task_index was incorrectly handled, leading to potential data integrity issues. The changes introduce a new, intelligent mapping system to ensure that task_index values are consistently and uniquely assigned across all merged episodes, thereby resolving the merging errors and improving data reliability.

Highlights

• Corrected task_index Merging Logic: Implemented a new mechanism to correctly merge task_index values when combining multiple .parquet datasets, resolving an issue where indexing was based on the first episode and ensuring consistent task identifiers across merged data.
• Introduced Unified Task Mapping: A new private method, _build_merged_task_mapping, was added to generate a comprehensive mapping for task_index values across all datasets being merged, which is then applied during the data copying and updating process.
• Version Bumps Across Packages: The version number for physical_ai_interfaces, physical_ai_manager, physical_ai_server, physical_ai_tools, and rosbag_recorder packages has been updated to 0.7.1 to reflect this fix and other minor updates.
• Added Isaac-GR00T Subproject: The Isaac-GR00T repository has been included as a new subproject.

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[gemini-code-assist]

Code Review

This pull request addresses an important bug in dataset merging where task_index values could collide. The introduction of _build_merged_task_mapping is a good approach to create a unified mapping before processing the files. My review includes a suggestion for a more efficient implementation using pandas, a type hint improvement for better code clarity, and a high-severity comment about an incomplete fix that could lead to inconsistent metadata. Overall, the core logic of the fix is sound, but requires a bit more work to be complete and robust.

[Copilot]

Pull request overview

This PR fixes a bug in the dataset merging logic where task_index values were being incorrectly merged based on the first episode's task index. The fix introduces a new task mapping system that correctly remaps task indices across merged datasets by task name, ensuring consistency when multiple datasets with potentially overlapping task indices are combined.

Key changes:

• Added _build_merged_task_mapping() method to create a mapping between old and new task indices based on task names
• Updated _copy_parquet_and_update_indices_for_merge() to apply the task index mapping when processing parquet files
• Bumped version to 0.7.1 across all packages

Reviewed changes

Copilot reviewed 13 out of 14 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
physical_ai_server/physical_ai_server/data_processing/data_editor.py	Implements the core fix by building task index mappings and applying them during parquet merge operations
rosbag_recorder/package.xml	Version bump to 0.7.1
rosbag_recorder/CHANGELOG.rst	Added changelog entry for 0.7.1
physical_ai_tools/package.xml	Version bump to 0.7.1
physical_ai_tools/CHANGELOG.rst	Added changelog entry describing the task_index merge fix
physical_ai_server/setup.py	Version bump to 0.7.1
physical_ai_server/package.xml	Version bump to 0.7.1
physical_ai_server/CHANGELOG.rst	Added changelog entry describing the task_index merge fix
physical_ai_manager/package.json	Version bump to 0.7.1
physical_ai_manager/CHANGELOG.rst	Added changelog entry for 0.7.1
physical_ai_interfaces/package.xml	Version bump to 0.7.1
physical_ai_interfaces/CHANGELOG.rst	Added changelog entry for 0.7.1
Isaac-GR00T	Added subproject commit reference

Files not reviewed (1)

• physical_ai_manager/package-lock.json: Language not supported

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[Copilot]

Pull request overview

Copilot reviewed 12 out of 13 changed files in this pull request and generated 4 comments.

Files not reviewed (1)

• physical_ai_manager/package-lock.json: Language not supported

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[Copilot]

Pull request overview

Copilot reviewed 12 out of 13 changed files in this pull request and generated 3 comments.

Files not reviewed (1)

• physical_ai_manager/package-lock.json: Language not supported

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[ola31]

Good

[Seongoo]

LGTM

[ola31]

@DongyunRobotis Please update versions to 0.7.2 🙏