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0000000000000000000000000000000000000000..4ca992081ba8b96013748e839daeffe042fa869c --- /dev/null +++ b/.omc/state/idle-notif-cooldown.json @@ -0,0 +1,3 @@ +{ + "lastSentAt": "2026-07-04T04:55:43.619Z" +} \ No newline at end of file diff --git a/.omc/state/last-tool-error.json b/.omc/state/last-tool-error.json new file mode 100644 index 0000000000000000000000000000000000000000..621d3481dbac762c625b56e3f5ea18c2050150b8 --- /dev/null +++ b/.omc/state/last-tool-error.json @@ -0,0 +1,7 @@ +{ + "tool_name": "Bash", + "tool_input_preview": "{\"command\":\"python -c \\\"\\nimport json\\nfor split in ['train','val']:\\n s = json.load(open(f'/scratch/cgao304/dev/datasets/teleop/pnp202/{split}/meta/stats.json'))\\n print('===', split, '===')\\n ...", + "error": "Exit code 2\n=== train ===\n action.body_eef_xyz: q01/q99 present\n action.body_eef_rot6d: q01/q99 present\n action.gripper_state: q01/q99 present\n state.joint_pos: q01/q99 present\n state.gripper_state: q01/q99 present\n joint_pos: MISSING\n gripper_state: MISSING\n=== val ===\n action.body_eef_xyz: q01/q99 present\n action.body_eef_rot6d: q01/q99 present\n action.gripper_state: q01/q99 present\n state.joint_pos: q01/q99 present\n state.gripper_state: q01/q99 present\n joint_pos: MISSING\n gripp...", + "timestamp": "2026-07-04T04:16:34.165Z", + "retry_count": 1 +} \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..be8dea74434c61db8fe1a18896a5f1a8fff260db --- /dev/null +++ b/README.md @@ -0,0 +1,319 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +- lerobot +- robotics +- xarm +- manipulation +- pick-and-place +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). + + + + + + + + +## 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": "xarm_robot", + "total_episodes": 202, + "total_frames": 43185, + "total_tasks": 4, + "chunks_size": 1000, + "data_files_size_in_mb": 100, + "video_files_size_in_mb": 200, + "fps": 30, + "splits": { + "train": "0:202" + }, + "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": [ + 17 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "x", + "y", + "z", + "rot1", + "rot2", + "rot3", + "rot4", + "rot5", + "rot6", + "gripper" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 10 + ], + "names": [ + "x", + "y", + "z", + "rot1", + "rot2", + "rot3", + "rot4", + "rot5", + "rot6", + "gripper" + ] + }, + "state.joint_pos": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6" + ] + }, + "state.eef_xyz": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": [ + "x", + "y", + "z" + ] + }, + "state.eef_rot6d": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "rot1", + "rot2", + "rot3", + "rot4", + "rot5", + "rot6" + ] + }, + "state.gripper_state": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": [ + "gripper" + ] + }, + "action.body_eef_xyz": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": [ + "x", + "y", + "z" + ] + }, + "action.body_eef_rot6d": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "rot1", + "rot2", + "rot3", + "rot4", + "rot5", + "rot6" + ] + }, + "action.world_eef_xyz": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": [ + "x", + "y", + "z" + ] + }, + "action.world_eef_rot6d": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "rot1", + "rot2", + "rot3", + "rot4", + "rot5", + "rot6" + ] + }, + "action.diff_eef_xyz": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": [ + "x", + "y", + "z" + ] + }, + "action.diff_eef_rpy": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": [ + "roll", + "pitch", + "yaw" + ] + }, + "action.gripper_state": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": [ + "gripper" + ] + }, + "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 + }, + "observation.images.wrist_camera": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "rgb" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.right_3pv_camera": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "rgb" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + } + } +} +``` + + +## Citation + +**BibTeX:** + +```bibtex +[More Information Needed] +``` \ No newline at end of file diff --git a/cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt b/cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt new file mode 100644 index 0000000000000000000000000000000000000000..a12567c40f454945ba607984d00c1c3d3ac99ec6 --- 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