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migration: detect the full SO family incl. bimanual bi_so_follower

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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'.
This commit is contained in:
CarolinePascal
2026-07-17 15:33:05 +02:00
parent 425470759d
commit 2ebc2dc1b4
1 changed files with 3 additions and 2 deletions
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community_v3_migration/classify.py
+3 -2
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@@ -8,8 +8,9 @@ import json
from pathlib import Path from pathlib import Path
import numpy as np import numpy as np
SO_PREFIXES = ("so100", "so101") # so100, so101, so100_follower, so101_follower, so100_bimanual, ... # so100/so101 (+ _follower/_bimanual), so_follower, and bi_so_follower (bimanual, 12-dim).
SO_EXACT = {"so_follower"} 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: # 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"} NEVER_FIX = {"koch", "koch_follower", "koch_bimanual", "moss", "moss_follower"}