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Converting from LeRobot v3 to v2

Setup

1. Create and Activate Virtual Environment

Run these from the scripts/lerobot_conversion directory (it has its own pyproject.toml; installing from the repo root would install the gr00t package instead):

cd scripts/lerobot_conversion
uv venv
source .venv/bin/activate
uv pip install -e . --verbose

2. Run Conversion Script

Inside the uv environment, run:

python convert_v3_to_v2.py --repo-id BobShan/double_folding_towel_v3.0

The converted v2.1 dataset is written next to the source dataset with a _v2.1 suffix (or to --output if given); the source dataset is left untouched. Pass --in-place to replace the source instead; the original v3.0 dataset is then kept in a sibling directory with a _backup_v3.0 suffix.

Note: You may need to install lerobot with GIT_LFS_SKIP_SMUDGE=1:

GIT_LFS_SKIP_SMUDGE=1 uv pip install "lerobot @ git+https://github.com/huggingface/lerobot.git@c75455a6de5c818fa1bb69fb2d92423e86c70475"