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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": ["Grasp a lego block and put it in the bin."], "length": 16}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [90.8538589477539, 75.97940063476562, 85.09049987792969, 66.79643249511719, -87.3602066040039, 46.59995651245117], "max": [91.67278289794922, 93.83403015136719, 96.12141418457031, 72.07456970214844, -86.41114044189453, 50.0091667175293], "mean": [91.30159759521484, 85.23584747314453, 90.8810043334961, 69.12970733642578, -86.81654357910156, 48.319122314453125], "std": [0.30986344814300537, 5.33600378036499, 3.2578024864196777, 1.5886287689208984, 0.23578037321567535, 1.086378812789917], "count": [16]}, "observation.state": {"min": [91.40625, 78.92578125, 89.912109375, 67.8515625, -87.626953125, 47.3282470703125], "max": [91.58203125, 99.140625, 101.162109375, 72.59765625, -86.484375, 50.798057556152344], "mean": [91.5325927734375, 87.923583984375, 95.130615234375, 69.8291015625, -86.9403076171875, 49.21062088012695], "std": [0.06190481409430504, 5.993412017822266, 3.366175889968872, 1.8172328472137451, 0.26770368218421936, 1.066896677017212], "count": [16]}, "observation.images.wrist": {"min": [[[0.0392156862745098]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4787702333537582]], [[0.4721624795751634]], [[0.48441915594362744]]], "std": [[[0.20502678805294805]], [[0.2068548776800788]], [[0.20662360796730186]]], "count": [16]}, "timestamp": {"min": [0.0], "max": [0.5], "mean": [0.25], "std": [0.1536590742882148], "count": [16]}, "frame_index": {"min": [0], "max": [15], "mean": [7.5], "std": [4.6097722286464435], "count": [16]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [16]}, "index": {"min": [0], "max": [15], "mean": [7.5], "std": [4.6097722286464435], "count": [16]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [16]}}}

meta/info.json

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+{
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+    "robot_type": "so100wrist",
+    "total_episodes": 1,
+    "total_frames": 16,
+    "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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+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+            "names": [
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+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+            "names": [
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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": "Grasp a lego block and put it in the bin."}

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

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