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data/chunk-000/episode_000000.parquet

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+size 234107

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["ZBot teleoperation recording"], "length": 3893}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-10.546875, -8.525390625, -2.197265625, -93.955078125, -44.47265625, -53.349609375, -1.0546875, -8.61328125, 2.8125, 7.734375], "max": [59.150390625, 40.166015625, 15.556640625, -6.064453125, -9.580078125, 12.65625, 7.119140625, 4.21875, 110.830078125, 17.2265625], "mean": [4.885075092315674, 1.8022657632827759, 2.877678632736206, -26.34041976928711, -12.561147689819336, -2.452268123626709, 0.4285712242126465, 0.3567551076412201, 28.290191650390625, 11.742779731750488], "std": [10.791291236877441, 6.791961669921875, 2.159147262573242, 25.674428939819336, 6.959648132324219, 9.222672462463379, 1.8037331104278564, 2.5577547550201416, 26.819650650024414, 2.669304132461548], "count": [3893]}, "observation.state": {"min": [-8.800125122070312, -96.60762023925781, -9.041913986206055, -130.3898468017578, -0.1647988110780716, -43.2767333984375, -90.23210144042969, -155.21926879882812, -37.03547286987305, -90.97724914550781, -29.916229248046875, -84.5076904296875, -0.49434179067611694, -17.782861709594727, -9.679088592529297, -26.889307022094727, 2.493947982788086, -120.98242950439453, 7.679536819458008, -45.43092346191406], "max": [43.38568878173828, 115.87683868408203, 31.893760681152344, 118.70945739746094, 14.337387084960938, 47.58510971069336, -6.712764739990234, 167.52891540527344, -11.436905860900879, 102.82549285888672, 12.425753593444824, 112.83439636230469, 4.251765251159668, 20.195831298828125, 3.1531431674957275, 31.42848777770996, 99.46077728271484, 142.5247344970703, 17.21584701538086, 16.73363494873047], "mean": [1.423391342163086, 0.14326652884483337, -0.4189141094684601, -0.07687224447727203, 3.5129871368408203, -0.0680650919675827, -25.52735710144043, 0.2692479193210602, -14.444101333618164, 0.39947807788848877, 2.877349853515625, -0.04802839457988739, 1.392042636871338, 0.03006243146955967, -0.5684496760368347, 0.09872331470251083, 24.150896072387695, 0.24606853723526, 11.51589584350586, -0.27975529432296753], "std": [7.805551528930664, 15.062685012817383, 5.1437788009643555, 12.16810131072998, 1.7287545204162598, 5.902368545532227, 24.63616371154785, 22.507417678833008, 6.263999938964844, 9.961296081542969, 5.974910736083984, 11.626791954040527, 1.2695952653884888, 4.531177043914795, 2.598025321960449, 4.96754789352417, 24.11729621887207, 20.266653060913086, 2.8389523029327393, 5.290315628051758], "count": [3893]}, "timestamp": {"min": [0.0], "max": [32.43333333333333], "mean": [16.21666666666667], "std": [9.365102182511885], "count": [3893]}, "frame_index": {"min": [0], "max": [3892], "mean": [1946.0], "std": [1123.8122619014264], "count": [3893]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3893]}, "index": {"min": [0], "max": [3892], "mean": [1946.0], "std": [1123.8122619014264], "count": [3893]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3893]}}}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "zbot",
+    "total_episodes": 1,
+    "total_frames": 3893,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 120,
+    "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": [
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+                "left_shoulder_roll.pos",
+                "left_shoulder_yaw.pos",
+                "left_elbow.pos",
+                "left_wrist.pos",
+                "right_shoulder_pitch.pos",
+                "right_shoulder_roll.pos",
+                "right_shoulder_yaw.pos",
+                "right_elbow.pos",
+                "right_wrist.pos"
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+        "observation.state": {
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+            "names": [
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+                "left_shoulder_pitch.vel",
+                "left_shoulder_roll.pos",
+                "left_shoulder_roll.vel",
+                "left_shoulder_yaw.pos",
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+                "left_wrist.pos",
+                "left_wrist.vel",
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+                "right_shoulder_pitch.vel",
+                "right_shoulder_roll.pos",
+                "right_shoulder_roll.vel",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "ZBot teleoperation recording"}