From 4a9c099838eb050f094d62fc63fd00f0d3ea00ea Mon Sep 17 00:00:00 2001
From: DUDULRX <162013353+DUDULRX@users.noreply.github.com>
Date: Fri, 7 Mar 2025 11:57:04 +0800
Subject: [PATCH] Update convert_dataset_v1_to_v2.py
---
lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py | 3 +++
1 file changed, 3 insertions(+)
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(