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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": ["long lego pick"], "length": 474}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-82.08984375, 62.2265625, 117.421875, -83.84765625, 172.79296875, -7.998046875], "max": [15.8203125, 134.912109375, 177.71484375, 14.853515625, 189.84375, 34.98046875], "mean": [-18.37396240234375, 106.91356658935547, 160.29901123046875, -25.328075408935547, 181.13375854492188, 24.471790313720703], "std": [30.724153518676758, 24.26263999938965, 20.769250869750977, 32.04444885253906, 2.7243902683258057, 16.141870498657227], "count": [474]}, "observation.state": {"min": [-81.38671875, 61.5234375, 119.970703125, -71.19140625, 173.671875, -0.087890625], "max": [14.765625, 130.078125, 177.1875, 8.173828125, 189.052734375, 34.365234375], "mean": [-18.557531356811523, 105.89334106445312, 160.56625366210938, -22.938711166381836, 181.35482788085938, 25.81963348388672], "std": [30.4947452545166, 24.972030639648438, 19.82007598876953, 27.90802574157715, 2.4722700119018555, 11.802563667297363], "count": [474]}, "observation.images.uvc": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40935191386785735]], [[0.41257976202031965]], [[0.3836407493690545]]], "std": [[[0.20290496103277028]], [[0.23507727536214565]], [[0.23328043350671177]]], "count": [101]}, "timestamp": {"min": [0.0], "max": [9.46], "mean": [4.7299999999999995], "std": [2.7366341857593364], "count": [474]}, "frame_index": {"min": [0], "max": [473], "mean": [236.5], "std": [136.83170928796682], "count": [474]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [474]}, "index": {"min": [0], "max": [473], "mean": [236.5], "std": [136.83170928796682], "count": [474]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [474]}}}

meta/info.json

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+{
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+    "robot_type": "koch",
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+    "total_frames": 474,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "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": {
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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": [
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+                "main_shoulder_lift",
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+                "main_wrist_roll",
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+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "long lego pick"}

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

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