From 2ebc2dc1b4999022aa68c46ee99557eac41d1fa8 Mon Sep 17 00:00:00 2001 From: CarolinePascal Date: Fri, 17 Jul 2026 15:33:05 +0200 Subject: [PATCH] migration: detect the full SO family incl. bimanual bi_so_follower Broaden SO_PREFIXES to (so100, so101, so_, bi_so_) so bimanual two-arm datasets (robot_type 'bi_so_follower', 12-dim) are recognized as SO and get the degrees conversion, instead of being skipped as non_so. so_ boundary avoids matching stray names like 'sofa'. --- community_v3_migration/classify.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/community_v3_migration/classify.py b/community_v3_migration/classify.py index 7ad5adf4e..851aa7751 100644 --- a/community_v3_migration/classify.py +++ b/community_v3_migration/classify.py @@ -8,8 +8,9 @@ import json from pathlib import Path import numpy as np -SO_PREFIXES = ("so100", "so101") # so100, so101, so100_follower, so101_follower, so100_bimanual, ... -SO_EXACT = {"so_follower"} +# so100/so101 (+ _follower/_bimanual), so_follower, and bi_so_follower (bimanual, 12-dim). +SO_PREFIXES = ("so100", "so101", "so_", "bi_so_") +SO_EXACT: set[str] = set() # Robots that superficially look SO-like but are NOT in scope for the joint fix: NEVER_FIX = {"koch", "koch_follower", "koch_bimanual", "moss", "moss_follower"}