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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Play LA"], "length": 180}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-28.125, 105.205078125, 137.8125, -56.162109375, 164.091796875, 96.78899383544922], "max": [-6.416015625, 185.625, 162.24609375, -24.2578125, 188.26171875, 96.8807373046875], "mean": [-19.79345703125, 142.52685546875, 150.62548828125, -40.63134765625, 179.32470703125, 96.85176849365234], "std": [8.437898635864258, 32.408782958984375, 9.551155090332031, 6.529101371765137, 9.071991920471191, 0.04267700016498566], "count": [180]}, "observation.state": {"min": [-28.212890625, 104.765625, 141.416015625, -54.4921875, 164.267578125, 96.90721893310547], "max": [-6.50390625, 185.361328125, 162.509765625, -25.751953125, 183.1640625, 97.3367691040039], "mean": [-20.11181640625, 140.794921875, 152.7958984375, -40.6796875, 177.25537109375, 97.2461166381836], "std": [8.34787368774414, 32.25750732421875, 7.9695048332214355, 5.988247394561768, 7.488979339599609, 0.08236361294984818], "count": [180]}, "observation.images.keyboard_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4390926062091503]], [[0.40773967933006533]], [[0.3775615706699347]]], "std": [[[0.3293861532837954]], [[0.3134973539985395]], [[0.2797247279729929]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [5.966666666666667], "mean": [2.9833333333333334], "std": [1.7320240781835015], "count": [180]}, "frame_index": {"min": [0], "max": [179], "mean": [89.5], "std": [51.96072234550504], "count": [180]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [180]}, "index": {"min": [0], "max": [179], "mean": [89.5], "std": [51.96072234550504], "count": [180]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [180]}}}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 1,
+    "total_frames": 180,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+        "observation.state": {
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+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
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+                "main_wrist_roll",
+                "main_gripper"
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+            "shape": [
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+                640,
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+            "names": [
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+                "channels"
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+            "info": {
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Play LA"}

videos/chunk-000/observation.images.keyboard_camera/episode_000000.mp4

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