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data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:419851cc8c2bbcd1fe480a950ecd34b941f1071aec14bb82e3d3b743cca73868
+size 28648

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["manipulation"], "length": 281}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.4999999403953552, -0.9999995827674866], "max": [0.49998247623443604, 0.999971330165863], "mean": [-0.09932008385658264, 0.2091570347547531], "std": [0.3401501178741455, 0.6775689125061035], "count": [281]}, "observation.images.head": {"min": [[[0.39215686274509803]], [[0.39215686274509803]], [[0.39215686274509803]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3947845179738562]], [[0.44745547385620915]], [[0.4475381944444445]]], "std": [[[0.039878535904310675]], [[0.06415754474369434]], [[0.06415445181811637]]], "count": [100]}, "observation.images.left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5010729166666666]], [[0.5013449754901961]], [[0.4986074346405229]]], "std": [[[0.2907370708244076]], [[0.289483433102488]], [[0.3533155228120664]]], "count": [100]}, "observation.images.right_wrist": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21592401960784313]], [[0.21592401960784313]], [[0.2345641339869281]]], "std": [[[0.12208523821229779]], [[0.12208523821229779]], [[0.1576172589008012]]], "count": [100]}, "observation.velocity": {"min": [-0.4999958872795105, -0.9999889731407166], "max": [0.4999968707561493, 0.9999929666519165], "mean": [-0.03904600068926811, -0.042539723217487335], "std": [0.35058367252349854, 0.7038068175315857], "count": [281]}, "observation.torque": {"min": [0.10012888163328171, 0.10044485330581665], "max": [0.34999844431877136, 0.5999964475631714], "mean": [0.25869739055633545, 0.4172438383102417], "std": [0.07696417719125748, 0.15376855432987213], "count": [281]}, "observation.temp_mos": {"min": [36.16621780395508, 41.16621780395508], "max": [37.09953689575195, 42.09953689575195], "mean": [36.632896423339844, 41.632896423339844], "std": [0.2703915238380432, 0.2703915238380432], "count": [281]}, "observation.temp_rotor": {"min": [51.16621780395508, 56.16621780395508], "max": [52.09953689575195, 57.09953689575195], "mean": [51.632896423339844, 56.63290023803711], "std": [0.2703915238380432, 0.2703914940357208], "count": [281]}, "action": {"min": [-0.4999999403953552, -0.9999995827674866], "max": [0.49998247623443604, 0.999971330165863], "mean": [-0.09932008385658264, 0.2091570347547531], "std": [0.3401501178741455, 0.6775689125061035], "count": [281]}, "timestamp": {"min": [0.0], "max": [9.333491325378418], "mean": [4.666800022125244], "std": [2.7039098739624023], "count": [281]}, "frame_index": {"min": [0], "max": [280], "mean": [140.0], "std": [81.11719916269298], "count": [281]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [281]}, "index": {"min": [0], "max": [280], "mean": [140.0], "std": [81.11719916269298], "count": [281]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [281]}}}

meta/info.json

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 {
-    "codebase_version": "v3.0",
+    "codebase_version": "v2.1",
     "robot_type": "anvil_openarm",
     "total_episodes": 1,
     "total_frames": 281,
     "total_tasks": 1,
+    "total_videos": 3,
+    "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 30,
     "splits": {
         "train": "0:1"
     },
-    "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",
+    "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": {
         "observation.state": {
             "dtype": "float32",
@@ -20,8 +22,7 @@
             "names": [
                 "joint_1.position",
                 "joint_2.position"
-            ],
-            "fps": 30
+            ]
         },
         "observation.images.head": {
             "dtype": "video",
@@ -100,8 +101,7 @@
             "names": [
                 "joint_1.velocity",
                 "joint_2.velocity"
-            ],
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+            ]
         },
         "observation.torque": {
             "dtype": "float32",
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             "names": [
                 "joint_1.torque",
                 "joint_2.torque"
-            ],
-            "fps": 30
+            ]
         },
         "observation.temp_mos": {
             "dtype": "float32",
@@ -122,8 +121,7 @@
             "names": [
                 "joint_1.temp_mos",
                 "joint_2.temp_mos"
-            ],
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+            ]
         },
         "observation.temp_rotor": {
             "dtype": "float32",
@@ -133,50 +131,52 @@
             "names": [
                 "joint_1.temp_rotor",
                 "joint_2.temp_rotor"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                2
             ],
-            "fps": 30
+            "names": [
+                "joint_1.position",
+                "joint_2.position"
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         "timestamp": {
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             "shape": [
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-            "names": null,
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         "frame_index": {
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             "shape": [
                 1
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         "episode_index": {
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-            "fps": 30
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         }
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-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 500
+    }
 }

meta/tasks.jsonl

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+{"task_index": 0, "task": "manipulation"}

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

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+version https://git-lfs.github.com/spec/v1
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+size 689020

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

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+version https://git-lfs.github.com/spec/v1
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+size 507249

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

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+version https://git-lfs.github.com/spec/v1
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+size 672951