Finetuning on 7-DoF arm. which dataset format should I use?

[lin-whale]

I need to finetune pi0 on my own 7-DOF + gripper dual arms. I notice that aloha dataset is based on 6-DoF arms while Droid dataset is based on 7-DoF arms. So must I use Droid data format conversion scrit convert_droid_data_to_lerobot.py to build my Lerobot dataset for finetuning? Or can I just add 2 extra feature on aloha converting script for finetuning? convert_aloha_data_to_lerobot.py