refactor the convert scripts to reuse feature and frame automatic build func.

docs/docs/docs/getting_started/policy_support.md

@@ -4,16 +4,55 @@
 
 Collected teleoperation data is stored in HDF5 format in the specified directory. We provide a script to convert HDF5 data to the LeRobot Dataset format. Only successful episode will be converted.
 
-:::info
-This script depends on the LeRobot runtime environment. We recommend using a separate Conda environment for LeRobot—see the official [LeRobot repo](https://github.com/huggingface/lerobot?tab=readme-ov-file#installation) for installation instructions.
-:::
+Before running the conversion script, you must first install the LeRobot-related dependencies:
+
+```bash
+pip install lerobot==0.3.3
+pip install numpy==1.26.0
+```
+
+You can then run the following command to perform the data conversion. This script converts the HDF5 dataset into the LeRobot Dataset v2 format.
+
+```bash
+python scripts/convert/isaaclab2lerobot.py \
+    --task_name=LeIsaac-SO101-PickOrange-v0 \
+    --repo_id=EverNorif/so101_test_orange_pick \
+    --hdf5_root=./datasets \
+    --hdf5_files=dataset.hdf5
+```
+
+<details>
+<summary><strong>Parameter descriptions for isaaclab2lerobot.py</strong></summary><p></p>
+
+- `--task_name`: Name of the task, e.g., `LeIsaac-SO101-PickOrange-v0`.
 
-You can modify the parameters in the script and run the following command. (This script is a conversion example we provide; please modify the parameters according to your specific needs before using it.)
+- `--task_type`: Specify task type. If your dataset is recorded with keyboard/gamepad, you should set it to 'keyboard'/'gamepad', otherwise not to set it and keep default value None.
+
+- `--repo_id`: Specify the LeRobot Dataset repo-id, e.g., `EverNorif/so101_test_orange_pick`
+
+- `--fps`: Specify the fps of LeRobot Dataset.
+
+- `--hdf5_root`: HDF5 root directory.
+
+- `--hdf5_files`:HDF5 files (comma-separated). If not provided, uses dataset.hdf5 in hdf5_root
+
+- `--task_description`: Task description. If not provided, will use the description defined in the task.
+
+- `--push_to_hub`: Whether to push dataset to huggingface hub.
+
+</details>
+
+:::tip
+We also provide the `isaaclab2lerobotv3.py` script to convert HDF5 datasets into the LeRobot Dataset v3 format. It requires the following versions of the LeRobot-related dependencies:
 
 ```bash
-python scripts/convert/isaaclab2lerobot.py
+pip install lerobot==0.4.2
+pip install numpy==1.26.0
 ```
 
+The available arguments of `isaaclab2lerobotv3.py` are identical to those of `isaaclab2lerobot.py`.
+:::
+
 ## 2. Policy Training
 
 Taking [GR00T N1.5](https://github.com/NVIDIA/Isaac-GR00T) as an example, which provides a fine-tuning workflow based on the LeRobot Dataset. You can refer to [nvidia/gr00t-n1.5-so101-tuning](https://huggingface.co/blog/nvidia/gr00t-n1-5-so101-tuning) to fine-tune it with your collected lerobot data. We take pick-orange task as an example.