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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"], "length": 411}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-48.515625, 81.03515625, 53.876953125, 37.529296875, -89.6484375, -8.626197814941406], "max": [9.31640625, 191.6015625, 172.96875, 89.912109375, 0.966796875, 35.67625045776367], "mean": [-4.749515056610107, 153.32872009277344, 137.56137084960938, 61.297828674316406, -31.509536743164062, 0.262738972902298], "std": [17.5206298828125, 45.521915435791016, 43.41176223754883, 12.284748077392578, 35.46181106567383, 13.124587059020996], "count": [411]}, "observation.state": {"min": [-48.427734375, 80.595703125, 56.689453125, 39.111328125, -88.59375, -4.535938262939453], "max": [8.876953125, 189.404296875, 172.353515625, 89.47265625, 0.439453125, 35.3105354309082], "mean": [-5.071139335632324, 151.55917358398438, 138.35794067382812, 61.764869689941406, -31.676979064941406, 4.390254974365234], "std": [17.383747100830078, 44.97277069091797, 42.24649429321289, 11.943720817565918, 35.241371154785156, 11.670010566711426], "count": [411]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44502298406862745]], [[0.46335074550653593]], [[0.4557614644607843]]], "std": [[[0.25479927146434567]], [[0.23639224014185242]], [[0.2239502444775175]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.666666666666666], "mean": [6.833333333333333], "std": [3.954837637721774], "count": [411]}, "frame_index": {"min": [0], "max": [410], "mean": [205.0], "std": [118.64512913165322], "count": [411]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [411]}, "index": {"min": [0], "max": [410], "mean": [205.0], "std": [118.64512913165322], "count": [411]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [411]}}}

meta/info.json

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+{
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+    "robot_type": "so100",
+    "total_episodes": 1,
+    "total_frames": 411,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
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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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+        "observation.state": {
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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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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "grasp"}

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

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