diff --git a/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py b/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
index acf0282f..fe658ce4 100644
--- a/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
+++ b/lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py
@@ -166,6 +166,9 @@ def parse_robot_config(robot_cfg: RobotConfig) -> tuple[str, dict]:
             for arm in robot_cfg.leader_arms
             for motor in robot_cfg.leader_arms[arm].motors
         ]
+    elif robot_cfg.type == "roarm_m3":
+        state_names = ["roam_m3","roam_m3","roam_m3","roam_m3","roam_m3","roam_m3"]
+        action_names = ["roam_m3","roam_m3","roam_m3","roam_m3","roam_m3","roam_m3"]     
     # elif robot_cfg["robot_type"] == "stretch3": TODO
     else:
         raise NotImplementedError(