Fix file-002 schema (fixed_size_list + per-episode row groups); preserve instruction edits

.omc/state/last-tool-error.json

@@ -0,0 +1,7 @@
+{
+  "tool_name": "Bash",
+  "tool_input_preview": "{\"command\":\"python -c \\\"\\nimport pandas as pd\\n# Verify current state before edit\\ndata = pd.read_parquet('train/data/dh_tasks/data/chunk-000/file-002.parquet')\\nprint('=== data file-002: task_index f...",
+  "error": "Exit code 1\nTraceback (most recent call last):\n  File \"<string>\", line 4, in <module>\n  File \"/home/davian/anaconda3/envs/lerobot/lib/python3.10/site-packages/pandas/io/parquet.py\", line 669, in read_parquet\n    return impl.read(\n  File \"/home/davian/anaconda3/envs/lerobot/lib/python3.10/site-packages/pandas/io/parquet.py\", line 258, in read\n    path_or_handle, handles, filesystem = _get_path_or_handle(\n  File \"/home/davian/anaconda3/envs/lerobot/lib/python3.10/site-packages/pandas/io/parquet.py...",
+  "timestamp": "2026-05-24T09:21:22.670Z",
+  "retry_count": 1
+}

README.md

@@ -0,0 +1,221 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=DAVIAN-Robotics/dh_tasks">
+<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
+</a>
+
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": "franka",
+    "total_episodes": 100,
+    "total_frames": 31283,
+    "total_tasks": 8,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 20,
+    "splits": {
+        "train": "0:100"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                29
+            ],
+            "names": {
+                "axes": [
+                    "q_0",
+                    "q_1",
+                    "q_2",
+                    "q_3",
+                    "q_4",
+                    "q_5",
+                    "q_6",
+                    "qdot_0",
+                    "qdot_1",
+                    "qdot_2",
+                    "qdot_3",
+                    "qdot_4",
+                    "qdot_5",
+                    "qdot_6",
+                    "x",
+                    "y",
+                    "z",
+                    "qx",
+                    "qy",
+                    "qz",
+                    "qw",
+                    "vx",
+                    "vy",
+                    "vz",
+                    "wx",
+                    "wy",
+                    "wz",
+                    "gripper_position",
+                    "grasp_state"
+                ]
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "qx",
+                    "qy",
+                    "qz",
+                    "qw",
+                    "gripper"
+                ]
+            }
+        },
+        "observation.images.left_back": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_back": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

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instructions.json

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+{
+  "franka_1cam": {
+    "0": "Pick up the cereal and place it next to the person.",
+    "1": "Pick up the cereal and place it next to the person.",
+    "2": "Pick up the cereal and place it next to the person.",
+    "3": "Pick up the cereal and place it next to the person.",
+    "4": "Pick up the cereal and place it next to the person.",
+    "5": "Pick up the cereal and place it next to the person.",
+    "6": "Pick up the cereal and place it next to the person.",
+    "7": "Pick up the cereal and place it next to the person.",
+    "8": "Pick up the cereal and place it next to the person.",
+    "9": "Pick up the cereal and place it next to the person.",
+    "10": "Pick up the milk and place it next to the person.",
+    "11": "Pick up the milk and place it next to the person.",
+    "12": "Pick up the milk and place it next to the person.",
+    "13": "Pick up the milk and place it next to the person.",
+    "14": "Pick up the milk and place it next to the person.",
+    "15": "Pick up the milk and place it next to the person.",
+    "16": "Pick up the milk and place it next to the person.",
+    "17": "Pick up the milk and place it next to the person.",
+    "18": "Pick up the milk and place it next to the person.",
+    "19": "Pick up the milk and place it next to the person.",
+    "20": "Pick up the cereal and place it on the corner of the desk.",
+    "21": "Pick up the cereal and place it on the corner of the desk.",
+    "22": "Pick up the cereal and place it on the corner of the desk.",
+    "23": "Pick up the cereal and place it on the corner of the desk.",
+    "24": "Pick up the cereal and place it on the corner of the desk.",
+    "25": "Pick up the cereal and place it on the corner of the desk.",
+    "26": "Pick up the cereal and place it on the corner of the desk.",
+    "27": "Pick up the cereal and place it on the corner of the desk.",
+    "28": "Pick up the cereal and place it on the corner of the desk.",
+    "29": "Pick up the cereal and place it on the corner of the desk.",
+    "30": "Pick up the milk and place it on the corner of the desk.",
+    "31": "Pick up the milk and place it on the corner of the desk.",
+    "32": "Pick up the milk and place it on the corner of the desk.",
+    "33": "Pick up the milk and place it on the corner of the desk.",
+    "34": "Pick up the milk and place it on the corner of the desk.",
+    "35": "Pick up the milk and place it on the corner of the desk.",
+    "36": "Pick up the milk and place it on the corner of the desk.",
+    "37": "Pick up the milk and place it on the corner of the desk.",
+    "38": "Pick up the milk and place it on the corner of the desk.",
+    "39": "Pick up the milk and place it on the corner of the desk.",
+    "40": "Pick up the bowl and place it on the corner of the desk.",
+    "41": "Pick up the bowl and place it on the corner of the desk.",
+    "42": "Pick up the bowl and place it on the corner of the desk.",
+    "43": "Pick up the bowl and place it on the corner of the desk.",
+    "44": "Pick up the bowl and place it on the corner of the desk.",
+    "45": "Pick up the bowl and place it on the corner of the desk.",
+    "46": "Pick up the bowl and place it on the corner of the desk.",
+    "47": "Pick up the bowl and place it on the corner of the desk.",
+    "48": "Pick up the bowl and place it on the corner of the desk.",
+    "49": "Pick up the bowl and place it on the corner of the desk.",
+    "50": "Pick up the wet wipes and place it in the trash can.",
+    "51": "Pick up the wet wipes and place it in the trash can.",
+    "52": "Pick up the wet wipes and place it in the trash can.",
+    "53": "Pick up the wet wipes and place it in the trash can.",
+    "54": "Pick up the wet wipes and place it in the trash can.",
+    "55": "Pick up the wet wipes and place it in the trash can.",
+    "56": "Pick up the wet wipes and place it in the trash can.",
+    "57": "Pick up the wet wipes and place it in the trash can.",
+    "58": "Pick up the wet wipes and place it in the trash can.",
+    "59": "Pick up the wet wipes and place it in the trash can.",
+    "60": "Pick up the water bottle and place it next to the person.",
+    "61": "Pick up the water bottle and place it next to the person.",
+    "62": "Pick up the water bottle and place it next to the person.",
+    "63": "Pick up the water bottle and place it next to the person.",
+    "64": "Pick up the water bottle and place it next to the person.",
+    "65": "Pick up the water bottle and place it next to the person.",
+    "66": "Pick up the water bottle and place it next to the person.",
+    "67": "Pick up the water bottle and place it next to the person.",
+    "68": "Pick up the water bottle and place it next to the person.",
+    "69": "Pick up the water bottle and place it next to the person.",
+    "70": "Pick up the water bottle and place it in the corner of the desk.",
+    "71": "Pick up the water bottle and place it in the corner of the desk.",
+    "72": "Pick up the water bottle and place it in the corner of the desk.",
+    "73": "Pick up the water bottle and place it in the corner of the desk.",
+    "74": "Pick up the water bottle and place it in the corner of the desk.",
+    "75": "Pick up the water bottle and place it in the corner of the desk.",
+    "76": "Pick up the water bottle and place it in the corner of the desk.",
+    "77": "Pick up the water bottle and place it in the corner of the desk.",
+    "78": "Pick up the water bottle and place it in the corner of the desk.",
+    "79": "Pick up the water bottle and place it in the corner of the desk.",
+    "80": "Pick up the milk and place it next to the person.",
+    "81": "Pick up the milk and place it next to the person.",
+    "82": "Pick up the milk and place it next to the person.",
+    "83": "Pick up the milk and place it next to the person.",
+    "84": "Pick up the milk and place it next to the person.",
+    "85": "Pick up the milk and place it on the corner of the desk.",
+    "86": "Pick up the milk and place it on the corner of the desk.",
+    "87": "Pick up the milk and place it on the corner of the desk.",
+    "88": "Pick up the milk and place it on the corner of the desk.",
+    "89": "Pick up the milk and place it on the corner of the desk.",
+    "90": "Pick up the water bottle and place it next to the person.",
+    "91": "Pick up the water bottle and place it next to the person.",
+    "92": "Pick up the water bottle and place it next to the person.",
+    "93": "Pick up the water bottle and place it next to the person.",
+    "94": "Pick up the water bottle and place it next to the person.",
+    "95": "Pick up the water bottle and place it in the corner of the desk.",
+    "96": "Pick up the water bottle and place it in the corner of the desk.",
+    "97": "Pick up the water bottle and place it in the corner of the desk.",
+    "98": "Pick up the water bottle and place it in the corner of the desk.",
+    "99": "Pick up the water bottle and place it in the corner of the desk."
+  }
+}

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+    "total_tasks": 8,
+    "chunks_size": 1000,
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+    "video_files_size_in_mb": 200,
+    "fps": 20,
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