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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": ["Pick up the dice."], "length": 1189}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-11.172150611877441, 78.83602905273438, 138.99119567871094, -34.7843132019043, -89.25724029541016, -0.7959480285644531], "max": [2.048809051513672, 102.83160400390625, 149.66888427734375, -15.006763458251953, -87.13797760009766, 28.648880004882812], "mean": [-4.303610324859619, 89.07526397705078, 144.85923767089844, -24.770397186279297, -88.46450805664062, 12.729044914245605], "std": [2.3517374992370605, 4.48649787902832, 1.8401650190353394, 4.265895843505859, 0.3579334616661072, 11.166868209838867], "count": [1189]}, "observation.state": {"min": [-10.72265625, 78.486328125, 141.064453125, -32.958984375, -88.76953125, 0.2814258933067322], "max": [1.845703125, 100.283203125, 149.765625, -15.380859375, -87.5390625, 28.236398696899414], "mean": [-4.307971000671387, 88.022705078125, 146.13735961914062, -24.378597259521484, -88.43504333496094, 12.714943885803223], "std": [2.3117337226867676, 4.370042324066162, 1.7178857326507568, 4.033031940460205, 0.3227093815803528, 10.97952651977539], "count": [1189]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4376789448246295]], [[0.5128583173574711]], [[0.576901302538342]]], "std": [[[0.27027148546824753]], [[0.33593533531178305]], [[0.3646262432337147]]], "count": [202]}, "timestamp": {"min": [0.0], "max": [39.6], "mean": [19.8], "std": [11.441153787970862], "count": [1189]}, "frame_index": {"min": [0], "max": [1188], "mean": [594.0], "std": [343.2346136391259], "count": [1189]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1189]}, "index": {"min": [0], "max": [1188], "mean": [594.0], "std": [343.2346136391259], "count": [1189]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1189]}}}

meta/info.json

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+{
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+    "robot_type": "so100",
+    "total_episodes": 1,
+    "total_frames": 1189,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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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": {
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+                "main_shoulder_lift",
+                "main_elbow_flex",
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+                "main_wrist_roll",
+                "main_gripper"
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+                "main_shoulder_lift",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Pick up the dice."}

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

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