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data/chunk-000/episode_000000.parquet

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+size 241242

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["ZBot teleoperation recording"], "length": 4105}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [3.515625, 0.17578125, -3.779296875, -109.599609375, -20.21484375, -81.474609375, -3.427734375, -30.41015625, 6.50390625, 9.140625], "max": [69.9609375, 11.6015625, 11.865234375, -6.85546875, -6.943359375, -1.58203125, 7.998046875, 13.447265625, 97.470703125, 42.099609375], "mean": [8.460173606872559, 4.635550498962402, 10.519490242004395, -15.652703285217285, -8.205820083618164, -9.497725486755371, 0.28867948055267334, 10.487720489501953, 20.943662643432617, 11.86279296875], "std": [11.75808048248291, 2.2594854831695557, 3.2003111839294434, 16.815162658691406, 2.57321834564209, 19.811267852783203, 1.7008168697357178, 6.470951080322266, 18.633657455444336, 6.847265243530273], "count": [4105]}, "observation.state": {"min": [0.252716988325119, -72.7923355102539, -1.6589163541793823, -24.252416610717773, -2.911463737487793, -25.889148712158203, -106.73384094238281, -103.902587890625, -16.886249542236328, -27.19704818725586, -48.087921142578125, -49.50160598754883, -0.8898916840553284, -22.958505630493164, -34.26689529418945, -127.75273132324219, 5.526278972625732, -69.66618347167969, -2.977306842803955, -59.74109649658203], "max": [48.3296012878418, 46.7737922668457, 6.602935314178467, 28.204200744628906, 10.887595176696777, 41.19948196411133, -7.064328193664551, 90.28482818603516, -9.898857116699219, 41.1225471496582, 1.702848196029663, 72.9671859741211, 6.471085071563721, 27.99437713623047, 13.041016578674316, 91.36192321777344, 89.96839904785156, 76.12874603271484, 41.056488037109375, 134.98509216308594], "mean": [4.588289737701416, -0.0429740846157074, 1.893574595451355, -0.0011370141291990876, 9.844527244567871, -0.04716424271464348, -15.730057716369629, 0.036592792719602585, -10.444355964660645, 0.024483462795615196, -4.095705509185791, -0.09823887795209885, 0.3431626856327057, -0.0010183078702539206, 10.230267524719238, -0.07724908739328384, 16.168899536132812, -0.045645665377378464, 12.227875709533691, 0.17223331332206726], "std": [8.26684284210205, 9.483351707458496, 1.5527502298355103, 4.142246723175049, 2.806118965148926, 5.301633358001709, 16.06633758544922, 14.65425968170166, 1.2283514738082886, 5.141334056854248, 11.875412940979004, 10.207069396972656, 1.1069008111953735, 4.485093593597412, 6.847828388214111, 13.501045227050781, 16.862878799438477, 11.159265518188477, 6.527318477630615, 8.629594802856445], "count": [4105]}, "timestamp": {"min": [0.0], "max": [34.2], "mean": [17.1], "std": [9.875094936252511], "count": [4105]}, "frame_index": {"min": [0], "max": [4104], "mean": [2052.0], "std": [1185.0113923503013], "count": [4105]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4105]}, "index": {"min": [0], "max": [4104], "mean": [2052.0], "std": [1185.0113923503013], "count": [4105]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4105]}}}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "zbot",
+    "total_episodes": 1,
+    "total_frames": 4105,
+    "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": {
+        "action": {
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+            "shape": [
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+            "names": [
+                "left_shoulder_pitch.pos",
+                "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",
+                "left_shoulder_yaw.vel",
+                "left_elbow.pos",
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+                "left_wrist.pos",
+                "left_wrist.vel",
+                "right_shoulder_pitch.pos",
+                "right_shoulder_pitch.vel",
+                "right_shoulder_roll.pos",
+                "right_shoulder_roll.vel",
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+                "right_shoulder_yaw.vel",
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+}

meta/tasks.jsonl

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