Update convert_aloha_data_to_lerobot.py#723
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MSTLE wants to merge 1 commit intoPhysical-Intelligence:mainfrom
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Update convert_aloha_data_to_lerobot.py#723MSTLE wants to merge 1 commit intoPhysical-Intelligence:mainfrom
MSTLE wants to merge 1 commit intoPhysical-Intelligence:mainfrom
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适配 lerobot新版本3.0+ 脚本修改总结： 将导入从 lerobot.common.datasets.lerobot_dataset.LEROBOT_HOME 改为 lerobot.common.constants.HF_LEROBOT_HOME 移除了不存在的 download_raw 导入 删除了 port_aloha() 函数的 raw_repo_id 参数 将所有 LEROBOT_HOME 引用替换为 HF_LEROBOT_HOME（共 4 处） 在 create_empty_dataset() 中添加 cameras 参数，移除硬编码的相机列表 在 load_raw_episode_data() 中添加 cameras 参数，实现动态相机支持 在 populate_dataset() 中添加 cameras 参数并传递给子函数 在 port_aloha() 中添加 cameras = get_cameras(hdf5_files) 自动检测相机 在每个 frame 字典中添加 "task": task 字段 将 dataset.save_episode(task=task) 改为 dataset.save_episode() 移除了 dataset.consolidate() 调用 核心变化：适配 LeRobot 新版本 API，支持自动检测相机配置
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适配 lerobot新版本3.0+
脚本修改总结：
将导入从 lerobot.common.datasets.lerobot_dataset.LEROBOT_HOME 改为 lerobot.common.constants.HF_LEROBOT_HOME 移除了不存在的 download_raw 导入
删除了 port_aloha() 函数的 raw_repo_id 参数
将所有 LEROBOT_HOME 引用替换为 HF_LEROBOT_HOME（共 4 处）
在 create_empty_dataset() 中添加 cameras 参数，移除硬编码的相机列表 在 load_raw_episode_data() 中添加 cameras 参数，实现动态相机支持
在 populate_dataset() 中添加 cameras 参数并传递给子函数
在 port_aloha() 中添加 cameras = get_cameras(hdf5_files) 自动检测相机 在每个 frame 字典中添加 "task": task 字段
将 dataset.save_episode(task=task) 改为 dataset.save_episode() 移除了 dataset.consolidate() 调用
核心变化：适配 LeRobot 新版本 API，支持自动检测相机配置