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migration: suffix non-standard SO arms with _nonstandard instead of 'unknown'

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Preserve the original robot_type lineage (e.g. so100 -> so100_nonstandard) for
arms whose joint dim isn't a multiple of 6, rather than erasing it to 'unknown'.
Idempotent: won't re-append the suffix.
This commit is contained in:
CarolinePascal
2026-07-17 16:14:32 +02:00
parent e1da15d243
commit 17f0d8f9dc
1 changed files with 8 additions and 6 deletions
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community_v3_migration/fix_dataset.py
+8 -6
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@@ -88,13 +88,15 @@ def fix_dataset_in_place(root) -> dict:
feats = load_info(root).get("features", {})
dims = [feats[c]["shape"][0] for c in VALUE_COLS if c in feats and feats[c].get("shape")]
if any(d % 6 != 0 for d in dims):
# Not a plain stack of 6-joint SO arms (e.g. 7-dim with an appended EE pose): the
# degrees mapping doesn't apply. The `so100`/`so101` robot_type is provably wrong for
# this structure, so relabel it 'unknown' and migrate structurally without touching values.
_set_robot_type(root, "unknown")
return {**cls, "robot_type": "unknown", "converted": False,
# Not a plain stack of 6-joint SO arms (e.g. a 7-joint variant): the degrees mapping
# doesn't apply. Keep the original robot_type but flag it '_nonstandard' so the SO
# lineage is preserved while making clear it isn't a canonical 6-DOF arm.
rt = cls.get("robot_type") or "so"
new_rt = rt if rt.endswith("_nonstandard") else f"{rt}_nonstandard"
_set_robot_type(root, new_rt)
return {**cls, "robot_type": new_rt, "converted": False,
"action": f"structural v2.1->v3.0 only; joint dims {dims} not a multiple of 6 "
"(non-standard arm), robot_type set to 'unknown', joint values left unchanged"}
f"(non-standard arm), robot_type set to '{new_rt}', joint values left unchanged"}
# drop stray files that would otherwise be uploaded
for junk in (root / "meta").glob("info.json.bak"):
junk.unlink()