в итоге сделал что-то вроде:
_files = []
dir = "path/to/folder"
for root, dirs, files in os.walk(dir, topdown=False):
for name in files:
files = os.path.join(root, name)
if root.split("/")[-1] in ["depth", "ir"]:
continue
_files.append(files)
print(_files)