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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": ["IAM ISA"], "length": 1602}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-33.134765625, 37.001953125, 23.02734375, 42.71484375, -20.654296875, -0.3478260934352875], "max": [25.83984375, 192.568359375, 182.021484375, 105.732421875, -3.69140625, 5.91304349899292], "mean": [-3.4641635417938232, 89.36415100097656, 85.55802917480469, 69.15999603271484, -13.412043571472168, -0.007490829564630985], "std": [15.193345069885254, 33.35993576049805, 37.106903076171875, 15.72448444366455, 3.984201192855835, 0.41140079498291016], "count": [1602]}, "observation.state": {"min": [-32.607421875, 36.73828125, 27.685546875, 43.41796875, -20.0390625, 0.5677785873413086], "max": [25.576171875, 188.701171875, 177.626953125, 100.634765625, -2.8125, 3.974449872970581], "mean": [-3.4681684970855713, 86.79154205322266, 87.40848541259766, 69.45060729980469, -13.294965744018555, 0.7274407148361206], "std": [15.138420104980469, 33.260902404785156, 35.41836929321289, 15.079971313476562, 3.9131429195404053, 0.24738600850105286], "count": [1602]}, "timestamp": {"min": [0.0], "max": [53.36666666666667], "mean": [26.68333333333333], "std": [15.415249184084162], "count": [1602]}, "frame_index": {"min": [0], "max": [1601], "mean": [800.5], "std": [462.4574755225248], "count": [1602]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1602]}, "index": {"min": [0], "max": [1601], "mean": [800.5], "std": [462.4574755225248], "count": [1602]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1602]}}}

meta/info.json

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+{
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+    "robot_type": "so100",
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+    "total_frames": 1602,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
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+    "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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+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "IAM ISA"}