Merge pull request #26 from huggingface/feat/speedup_visulization

.github/workflows/deploy-release.yml

@@ -16,7 +16,18 @@ jobs:
         with:
           fetch-depth: 0
           lfs: true
+          ref: main
       - name: Push to hub
         env:
           HF_TOKEN: ${{ secrets.HF_TOKEN }}
-        run: git push https://mishig:$HF_TOKEN@huggingface.co/spaces/lerobot/visualize_dataset main -f
+        run: |
+          set -euo pipefail
+
+          git lfs install --local
+
+          git remote remove hf 2>/dev/null || true
+          git remote add hf "https://mishig:${HF_TOKEN}@huggingface.co/spaces/lerobot/visualize_dataset"
+
+          # Push large files first, then refs.
+          git lfs push hf main
+          git push hf main -f

.gitignore

@@ -2,6 +2,7 @@
 
 # dependencies
 /node_modules
+package-lock.json
 /.pnp
 .pnp.*
 .yarn/*
@@ -16,7 +17,8 @@
 # next.js
 /.next/
 /out/
-/public
+/public/*
+!/public/urdf/
 
 # production
 /build

README.md

@@ -11,7 +11,7 @@ license: apache-2.0
 
 # LeRobot Dataset Visualizer
 
-LeRobot Dataset Visualizer is a web application for interactive exploration and visualization of robotics datasets, particularly those in the LeRobot format. It enables users to browse, view, and analyze episodes from large-scale robotics datasets, combining synchronized video playback with rich, interactive data graphs.
+LeRobot Dataset Tool and Visualizer is a web application for interactive exploration and visualization of robotics datasets, particularly those in the LeRobot format. It enables users to browse, view, and analyze episodes from large-scale robotics datasets, combining synchronized video playback with rich, interactive data graphs.
 
 ## Project Overview
 
@@ -20,13 +20,20 @@ This tool is designed to help robotics researchers and practitioners quickly ins
 - Navigating between organizations, datasets, and episodes
 - Watching episode videos
 - Exploring synchronized time-series data with interactive charts
+- Analyzing action quality and identifying problematic episodes
+- Visualizing robot poses in 3D using URDF models
 - Paginating through large datasets efficiently
 
 ## Key Features
 
 - **Dataset & Episode Navigation:** Quickly jump between organizations, datasets, and episodes using a sidebar and navigation controls.
 - **Synchronized Video & Data:** Video playback is synchronized with interactive data graphs for detailed inspection of sensor and control signals.
-- **Efficient Data Loading:** Uses parquet and JSON loading for large dataset support, with pagination and chunking.
+- **Overview Panel:** At-a-glance summary of dataset metadata, camera info, and episode details.
+- **Statistics Panel:** Dataset-level statistics including episode count, total recording time, frames-per-second, and an episode-length histogram.
+- **Action Insights Panel:** Data-driven analysis tools to guide training configuration — includes autocorrelation, state-action alignment, speed distribution, and cross-episode variance heatmap.
+- **Filtering Panel:** Identify and flag problematic episodes (low movement, jerky motion, outlier length) for removal. Exports flagged episode IDs as a ready-to-run LeRobot CLI command.
+- **3D URDF Viewer:** Visualize robot joint poses frame-by-frame in an interactive 3D scene, with end-effector trail rendering. Supports SO-100, SO-101, and OpenArm bimanual robots.
+- **Efficient Data Loading:** Uses parquet and JSON loading for large dataset support, with pagination, chunking, and lazy-loaded panels for fast initial load.
 - **Responsive UI:** Built with React, Next.js, and Tailwind CSS for a fast, modern user experience.
 
 ## Technologies Used
@@ -34,6 +41,8 @@ This tool is designed to help robotics researchers and practitioners quickly ins
 - **Next.js** (App Router)
 - **React**
 - **Recharts** (for data visualization)
+- **Three.js** + **@react-three/fiber** + **@react-three/drei** (for 3D URDF visualization)
+- **urdf-loader** (for parsing URDF robot models)
 - **hyparquet** (for reading Parquet files)
 - **Tailwind CSS** (styling)
 

bun.lock

@@ -5,12 +5,17 @@
     "": {
       "name": "lerobot-viewer",
       "dependencies": {
+        "@react-three/drei": "^10.7.7",
+        "@react-three/fiber": "^9.5.0",
+        "@types/three": "^0.182.0",
         "hyparquet": "^1.12.1",
         "next": "15.3.6",
         "react": "^19.0.0",
         "react-dom": "^19.0.0",
         "react-icons": "^5.5.0",
         "recharts": "^2.15.3",
+        "three": "^0.182.0",
+        "urdf-loader": "^0.12.6",
       },
       "devDependencies": {
         "@eslint/eslintrc": "^3",
@@ -31,6 +36,8 @@
 
     "@babel/runtime": ["@babel/runtime@7.28.6", "", {}, "sha512-05WQkdpL9COIMz4LjTxGpPNCdlpyimKppYNoJ5Di5EUObifl8t4tuLuUBBZEpoLYOmfvIWrsp9fCl0HoPRVTdA=="],
 
+    "@dimforge/rapier3d-compat": ["@dimforge/rapier3d-compat@0.12.0", "", {}, "sha512-uekIGetywIgopfD97oDL5PfeezkFpNhwlzlaEYNOA0N6ghdsOvh/HYjSMek5Q2O1PYvRSDFcqFVJl4r4ZBwOow=="],
+
     "@emnapi/core": ["@emnapi/core@1.8.1", "", { "dependencies": { "@emnapi/wasi-threads": "1.1.0", "tslib": "^2.4.0" } }, "sha512-AvT9QFpxK0Zd8J0jopedNm+w/2fIzvtPKPjqyw9jwvBaReTTqPBk9Hixaz7KbjimP+QNz605/XnjFcDAL2pqBg=="],
 
     "@emnapi/runtime": ["@emnapi/runtime@1.8.1", "", { "dependencies": { "tslib": "^2.4.0" } }, "sha512-mehfKSMWjjNol8659Z8KxEMrdSJDDot5SXMq00dM8BN4o+CLNXQ0xH2V7EchNHV4RmbZLmmPdEaXZc5H2FXmDg=="],
@@ -123,6 +130,10 @@
 
     "@jridgewell/trace-mapping": ["@jridgewell/trace-mapping@0.3.31", "", { "dependencies": { "@jridgewell/resolve-uri": "^3.1.0", "@jridgewell/sourcemap-codec": "^1.4.14" } }, "sha512-zzNR+SdQSDJzc8joaeP8QQoCQr8NuYx2dIIytl1QeBEZHJ9uW6hebsrYgbz8hJwUQao3TWCMtmfV8Nu1twOLAw=="],
 
+    "@mediapipe/tasks-vision": ["@mediapipe/tasks-vision@0.10.17", "", {}, "sha512-CZWV/q6TTe8ta61cZXjfnnHsfWIdFhms03M9T7Cnd5y2mdpylJM0rF1qRq+wsQVRMLz1OYPVEBU9ph2Bx8cxrg=="],
+
+    "@monogrid/gainmap-js": ["@monogrid/gainmap-js@3.4.0", "", { "dependencies": { "promise-worker-transferable": "^1.0.4" }, "peerDependencies": { "three": ">= 0.159.0" } }, "sha512-2Z0FATFHaoYJ8b+Y4y4Hgfn3FRFwuU5zRrk+9dFWp4uGAdHGqVEdP7HP+gLA3X469KXHmfupJaUbKo1b/aDKIg=="],
+
     "@napi-rs/wasm-runtime": ["@napi-rs/wasm-runtime@0.2.12", "", { "dependencies": { "@emnapi/core": "^1.4.3", "@emnapi/runtime": "^1.4.3", "@tybys/wasm-util": "^0.10.0" } }, "sha512-ZVWUcfwY4E/yPitQJl481FjFo3K22D6qF0DuFH6Y/nbnE11GY5uguDxZMGXPQ8WQ0128MXQD7TnfHyK4oWoIJQ=="],
 
     "@next/env": ["@next/env@15.3.6", "", {}, "sha512-/cK+QPcfRbDZxmI/uckT4lu9pHCfRIPBLqy88MhE+7Vg5hKrEYc333Ae76dn/cw2FBP2bR/GoK/4DU+U7by/Nw=="],
@@ -153,6 +164,10 @@
 
     "@nolyfill/is-core-module": ["@nolyfill/is-core-module@1.0.39", "", {}, "sha512-nn5ozdjYQpUCZlWGuxcJY/KpxkWQs4DcbMCmKojjyrYDEAGy4Ce19NN4v5MduafTwJlbKc99UA8YhSVqq9yPZA=="],
 
+    "@react-three/drei": ["@react-three/drei@10.7.7", "", { "dependencies": { "@babel/runtime": "^7.26.0", "@mediapipe/tasks-vision": "0.10.17", "@monogrid/gainmap-js": "^3.0.6", "@use-gesture/react": "^10.3.1", "camera-controls": "^3.1.0", "cross-env": "^7.0.3", "detect-gpu": "^5.0.56", "glsl-noise": "^0.0.0", "hls.js": "^1.5.17", "maath": "^0.10.8", "meshline": "^3.3.1", "stats-gl": "^2.2.8", "stats.js": "^0.17.0", "suspend-react": "^0.1.3", "three-mesh-bvh": "^0.8.3", "three-stdlib": "^2.35.6", "troika-three-text": "^0.52.4", "tunnel-rat": "^0.1.2", "use-sync-external-store": "^1.4.0", "utility-types": "^3.11.0", "zustand": "^5.0.1" }, "peerDependencies": { "@react-three/fiber": "^9.0.0", "react": "^19", "react-dom": "^19", "three": ">=0.159" }, "optionalPeers": ["react-dom"] }, "sha512-ff+J5iloR0k4tC++QtD/j9u3w5fzfgFAWDtAGQah9pF2B1YgOq/5JxqY0/aVoQG5r3xSZz0cv5tk2YuBob4xEQ=="],
+
+    "@react-three/fiber": ["@react-three/fiber@9.5.0", "", { "dependencies": { "@babel/runtime": "^7.17.8", "@types/webxr": "*", "base64-js": "^1.5.1", "buffer": "^6.0.3", "its-fine": "^2.0.0", "react-use-measure": "^2.1.7", "scheduler": "^0.27.0", "suspend-react": "^0.1.3", "use-sync-external-store": "^1.4.0", "zustand": "^5.0.3" }, "peerDependencies": { "expo": ">=43.0", "expo-asset": ">=8.4", "expo-file-system": ">=11.0", "expo-gl": ">=11.0", "react": ">=19 <19.3", "react-dom": ">=19 <19.3", "react-native": ">=0.78", "three": ">=0.156" }, "optionalPeers": ["expo", "expo-asset", "expo-file-system", "expo-gl", "react-dom", "react-native"] }, "sha512-FiUzfYW4wB1+PpmsE47UM+mCads7j2+giRBltfwH7SNhah95rqJs3ltEs9V3pP8rYdS0QlNne+9Aj8dS/SiaIA=="],
+
     "@rtsao/scc": ["@rtsao/scc@1.1.0", "", {}, "sha512-zt6OdqaDoOnJ1ZYsCYGt9YmWzDXl4vQdKTyJev62gFhRGKdx7mcT54V9KIjg+d2wi9EXsPvAPKe7i7WjfVWB8g=="],
 
     "@rushstack/eslint-patch": ["@rushstack/eslint-patch@1.15.0", "", {}, "sha512-ojSshQPKwVvSMR8yT2L/QtUkV5SXi/IfDiJ4/8d6UbTPjiHVmxZzUAzGD8Tzks1b9+qQkZa0isUOvYObedITaw=="],
@@ -191,6 +206,8 @@
 
     "@tailwindcss/postcss": ["@tailwindcss/postcss@4.1.18", "", { "dependencies": { "@alloc/quick-lru": "^5.2.0", "@tailwindcss/node": "4.1.18", "@tailwindcss/oxide": "4.1.18", "postcss": "^8.4.41", "tailwindcss": "4.1.18" } }, "sha512-Ce0GFnzAOuPyfV5SxjXGn0CubwGcuDB0zcdaPuCSzAa/2vII24JTkH+I6jcbXLb1ctjZMZZI6OjDaLPJQL1S0g=="],
 
+    "@tweenjs/tween.js": ["@tweenjs/tween.js@23.1.3", "", {}, "sha512-vJmvvwFxYuGnF2axRtPYocag6Clbb5YS7kLL+SO/TeVFzHqDIWrNKYtcsPMibjDx9O+bu+psAy9NKfWklassUA=="],
+
     "@tybys/wasm-util": ["@tybys/wasm-util@0.10.1", "", { "dependencies": { "tslib": "^2.4.0" } }, "sha512-9tTaPJLSiejZKx+Bmog4uSubteqTvFrVrURwkmHixBo0G4seD0zUxp98E1DzUBJxLQ3NPwXrGKDiVjwx/DpPsg=="],
 
     "@types/d3-array": ["@types/d3-array@3.2.2", "", {}, "sha512-hOLWVbm7uRza0BYXpIIW5pxfrKe0W+D5lrFiAEYR+pb6w3N2SwSMaJbXdUfSEv+dT4MfHBLtn5js0LAWaO6otw=="],
@@ -211,6 +228,8 @@
 
     "@types/d3-timer": ["@types/d3-timer@3.0.2", "", {}, "sha512-Ps3T8E8dZDam6fUyNiMkekK3XUsaUEik+idO9/YjPtfj2qruF8tFBXS7XhtE4iIXBLxhmLjP3SXpLhVf21I9Lw=="],
 
+    "@types/draco3d": ["@types/draco3d@1.4.10", "", {}, "sha512-AX22jp8Y7wwaBgAixaSvkoG4M/+PlAcm3Qs4OW8yT9DM4xUpWKeFhLueTAyZF39pviAdcDdeJoACapiAceqNcw=="],
+
     "@types/estree": ["@types/estree@1.0.8", "", {}, "sha512-dWHzHa2WqEXI/O1E9OjrocMTKJl2mSrEolh1Iomrv6U+JuNwaHXsXx9bLu5gG7BUWFIN0skIQJQ/L1rIex4X6w=="],
 
     "@types/json-schema": ["@types/json-schema@7.0.15", "", {}, "sha512-5+fP8P8MFNC+AyZCDxrB2pkZFPGzqQWUzpSeuuVLvm8VMcorNYavBqoFcxK8bQz4Qsbn4oUEEem4wDLfcysGHA=="],
@@ -219,10 +238,20 @@
 
     "@types/node": ["@types/node@20.19.33", "", { "dependencies": { "undici-types": "~6.21.0" } }, "sha512-Rs1bVAIdBs5gbTIKza/tgpMuG1k3U/UMJLWecIMxNdJFDMzcM5LOiLVRYh3PilWEYDIeUDv7bpiHPLPsbydGcw=="],
 
+    "@types/offscreencanvas": ["@types/offscreencanvas@2019.7.3", "", {}, "sha512-ieXiYmgSRXUDeOntE1InxjWyvEelZGP63M+cGuquuRLuIKKT1osnkXjxev9B7d1nXSug5vpunx+gNlbVxMlC9A=="],
+
     "@types/react": ["@types/react@19.2.14", "", { "dependencies": { "csstype": "^3.2.2" } }, "sha512-ilcTH/UniCkMdtexkoCN0bI7pMcJDvmQFPvuPvmEaYA/NSfFTAgdUSLAoVjaRJm7+6PvcM+q1zYOwS4wTYMF9w=="],
 
     "@types/react-dom": ["@types/react-dom@19.2.3", "", { "peerDependencies": { "@types/react": "^19.2.0" } }, "sha512-jp2L/eY6fn+KgVVQAOqYItbF0VY/YApe5Mz2F0aykSO8gx31bYCZyvSeYxCHKvzHG5eZjc+zyaS5BrBWya2+kQ=="],
 
+    "@types/react-reconciler": ["@types/react-reconciler@0.28.9", "", { "peerDependencies": { "@types/react": "*" } }, "sha512-HHM3nxyUZ3zAylX8ZEyrDNd2XZOnQ0D5XfunJF5FLQnZbHHYq4UWvW1QfelQNXv1ICNkwYhfxjwfnqivYB6bFg=="],
+
+    "@types/stats.js": ["@types/stats.js@0.17.4", "", {}, "sha512-jIBvWWShCvlBqBNIZt0KAshWpvSjhkwkEu4ZUcASoAvhmrgAUI2t1dXrjSL4xXVLB4FznPrIsX3nKXFl/Dt4vA=="],
+
+    "@types/three": ["@types/three@0.182.0", "", { "dependencies": { "@dimforge/rapier3d-compat": "~0.12.0", "@tweenjs/tween.js": "~23.1.3", "@types/stats.js": "*", "@types/webxr": ">=0.5.17", "@webgpu/types": "*", "fflate": "~0.8.2", "meshoptimizer": "~0.22.0" } }, "sha512-WByN9V3Sbwbe2OkWuSGyoqQO8Du6yhYaXtXLoA5FkKTUJorZ+yOHBZ35zUUPQXlAKABZmbYp5oAqpA4RBjtJ/Q=="],
+
+    "@types/webxr": ["@types/webxr@0.5.24", "", {}, "sha512-h8fgEd/DpoS9CBrjEQXR+dIDraopAEfu4wYVNY2tEPwk60stPWhvZMf4Foo5FakuQ7HFZoa8WceaWFervK2Ovg=="],
+
     "@typescript-eslint/eslint-plugin": ["@typescript-eslint/eslint-plugin@8.55.0", "", { "dependencies": { "@eslint-community/regexpp": "^4.12.2", "@typescript-eslint/scope-manager": "8.55.0", "@typescript-eslint/type-utils": "8.55.0", "@typescript-eslint/utils": "8.55.0", "@typescript-eslint/visitor-keys": "8.55.0", "ignore": "^7.0.5", "natural-compare": "^1.4.0", "ts-api-utils": "^2.4.0" }, "peerDependencies": { "@typescript-eslint/parser": "^8.55.0", "eslint": "^8.57.0 || ^9.0.0", "typescript": ">=4.8.4 <6.0.0" } }, "sha512-1y/MVSz0NglV1ijHC8OT49mPJ4qhPYjiK08YUQVbIOyu+5k862LKUHFkpKHWu//zmr7hDR2rhwUm6gnCGNmGBQ=="],
 
     "@typescript-eslint/parser": ["@typescript-eslint/parser@8.55.0", "", { "dependencies": { "@typescript-eslint/scope-manager": "8.55.0", "@typescript-eslint/types": "8.55.0", "@typescript-eslint/typescript-estree": "8.55.0", "@typescript-eslint/visitor-keys": "8.55.0", "debug": "^4.4.3" }, "peerDependencies": { "eslint": "^8.57.0 || ^9.0.0", "typescript": ">=4.8.4 <6.0.0" } }, "sha512-4z2nCSBfVIMnbuu8uinj+f0o4qOeggYJLbjpPHka3KH1om7e+H9yLKTYgksTaHcGco+NClhhY2vyO3HsMH1RGw=="],
@@ -281,6 +310,12 @@
 
     "@unrs/resolver-binding-win32-x64-msvc": ["@unrs/resolver-binding-win32-x64-msvc@1.11.1", "", { "os": "win32", "cpu": "x64" }, "sha512-lrW200hZdbfRtztbygyaq/6jP6AKE8qQN2KvPcJ+x7wiD038YtnYtZ82IMNJ69GJibV7bwL3y9FgK+5w/pYt6g=="],
 
+    "@use-gesture/core": ["@use-gesture/core@10.3.1", "", {}, "sha512-WcINiDt8WjqBdUXye25anHiNxPc0VOrlT8F6LLkU6cycrOGUDyY/yyFmsg3k8i5OLvv25llc0QC45GhR/C8llw=="],
+
+    "@use-gesture/react": ["@use-gesture/react@10.3.1", "", { "dependencies": { "@use-gesture/core": "10.3.1" }, "peerDependencies": { "react": ">= 16.8.0" } }, "sha512-Yy19y6O2GJq8f7CHf7L0nxL8bf4PZCPaVOCgJrusOeFHY1LvHgYXnmnXg6N5iwAnbgbZCDjo60SiM6IPJi9C5g=="],
+
+    "@webgpu/types": ["@webgpu/types@0.1.69", "", {}, "sha512-RPmm6kgRbI8e98zSD3RVACvnuktIja5+yLgDAkTmxLr90BEwdTXRQWNLF3ETTTyH/8mKhznZuN5AveXYFEsMGQ=="],
+
     "acorn": ["acorn@8.15.0", "", { "bin": { "acorn": "bin/acorn" } }, "sha512-NZyJarBfL7nWwIq+FDL6Zp/yHEhePMNnnJ0y3qfieCrmNvYct8uvtiV41UvlSe6apAfk0fY1FbWx+NwfmpvtTg=="],
 
     "acorn-jsx": ["acorn-jsx@5.3.2", "", { "peerDependencies": { "acorn": "^6.0.0 || ^7.0.0 || ^8.0.0" } }, "sha512-rq9s+JNhf0IChjtDXxllJ7g41oZk5SlXtp0LHwyA5cejwn7vKmKp4pPri6YEePv2PU65sAsegbXtIinmDFDXgQ=="],
@@ -321,10 +356,16 @@
 
     "balanced-match": ["balanced-match@1.0.2", "", {}, "sha512-3oSeUO0TMV67hN1AmbXsK4yaqU7tjiHlbxRDZOpH0KW9+CeX4bRAaX0Anxt0tx2MrpRpWwQaPwIlISEJhYU5Pw=="],
 
+    "base64-js": ["base64-js@1.5.1", "", {}, "sha512-AKpaYlHn8t4SVbOHCy+b5+KKgvR4vrsD8vbvrbiQJps7fKDTkjkDry6ji0rUJjC0kzbNePLwzxq8iypo41qeWA=="],
+
+    "bidi-js": ["bidi-js@1.0.3", "", { "dependencies": { "require-from-string": "^2.0.2" } }, "sha512-RKshQI1R3YQ+n9YJz2QQ147P66ELpa1FQEg20Dk8oW9t2KgLbpDLLp9aGZ7y8WHSshDknG0bknqGw5/tyCs5tw=="],
+
     "brace-expansion": ["brace-expansion@1.1.12", "", { "dependencies": { "balanced-match": "^1.0.0", "concat-map": "0.0.1" } }, "sha512-9T9UjW3r0UW5c1Q7GTwllptXwhvYmEzFhzMfZ9H7FQWt+uZePjZPjBP/W1ZEyZ1twGWom5/56TF4lPcqjnDHcg=="],
 
     "braces": ["braces@3.0.3", "", { "dependencies": { "fill-range": "^7.1.1" } }, "sha512-yQbXgO/OSZVD2IsiLlro+7Hf6Q18EJrKSEsdoMzKePKXct3gvD8oLcOQdIzGupr5Fj+EDe8gO/lxc1BzfMpxvA=="],
 
+    "buffer": ["buffer@6.0.3", "", { "dependencies": { "base64-js": "^1.3.1", "ieee754": "^1.2.1" } }, "sha512-FTiCpNxtwiZZHEZbcbTIcZjERVICn9yq/pDFkTl95/AxzD1naBctN7YO68riM/gLSDY7sdrMby8hofADYuuqOA=="],
+
     "busboy": ["busboy@1.6.0", "", { "dependencies": { "streamsearch": "^1.1.0" } }, "sha512-8SFQbg/0hQ9xy3UNTB0YEnsNBbWfhf7RtnzpL7TkBiTBRfrQ9Fxcnz7VJsleJpyp6rVLvXiuORqjlHi5q+PYuA=="],
 
     "call-bind": ["call-bind@1.0.8", "", { "dependencies": { "call-bind-apply-helpers": "^1.0.0", "es-define-property": "^1.0.0", "get-intrinsic": "^1.2.4", "set-function-length": "^1.2.2" } }, "sha512-oKlSFMcMwpUg2ednkhQ454wfWiU/ul3CkJe/PEHcTKuiX6RpbehUiFMXu13HalGZxfUwCQzZG747YXBn1im9ww=="],
@@ -335,6 +376,8 @@
 
     "callsites": ["callsites@3.1.0", "", {}, "sha512-P8BjAsXvZS+VIDUI11hHCQEv74YT67YUi5JJFNWIqL235sBmjX4+qx9Muvls5ivyNENctx46xQLQ3aTuE7ssaQ=="],
 
+    "camera-controls": ["camera-controls@3.1.2", "", { "peerDependencies": { "three": ">=0.126.1" } }, "sha512-xkxfpG2ECZ6Ww5/9+kf4mfg1VEYAoe9aDSY+IwF0UEs7qEzwy0aVRfs2grImIECs/PoBtWFrh7RXsQkwG922JA=="],
+
     "caniuse-lite": ["caniuse-lite@1.0.30001769", "", {}, "sha512-BCfFL1sHijQlBGWBMuJyhZUhzo7wer5sVj9hqekB/7xn0Ypy+pER/edCYQm4exbXj4WiySGp40P8UuTh6w1srg=="],
 
     "chalk": ["chalk@4.1.2", "", { "dependencies": { "ansi-styles": "^4.1.0", "supports-color": "^7.1.0" } }, "sha512-oKnbhFyRIXpUuez8iBMmyEa4nbj4IOQyuhc/wy9kY7/WVPcwIO9VA668Pu8RkO7+0G76SLROeyw9CpQ061i4mA=="],
@@ -349,6 +392,8 @@
 
     "concat-map": ["concat-map@0.0.1", "", {}, "sha512-/Srv4dswyQNBfohGpz9o6Yb3Gz3SrUDqBH5rTuhGR7ahtlbYKnVxw2bCFMRljaA7EXHaXZ8wsHdodFvbkhKmqg=="],
 
+    "cross-env": ["cross-env@7.0.3", "", { "dependencies": { "cross-spawn": "^7.0.1" }, "bin": { "cross-env": "src/bin/cross-env.js", "cross-env-shell": "src/bin/cross-env-shell.js" } }, "sha512-+/HKd6EgcQCJGh2PSjZuUitQBQynKor4wrFbRg4DtAgS1aWO+gU52xpH7M9ScGgXSYmAVS9bIJ8EzuaGw0oNAw=="],
+
     "cross-spawn": ["cross-spawn@7.0.6", "", { "dependencies": { "path-key": "^3.1.0", "shebang-command": "^2.0.0", "which": "^2.0.1" } }, "sha512-uV2QOWP2nWzsy2aMp8aRibhi9dlzF5Hgh5SHaB9OiTGEyDTiJJyx0uy51QXdyWbtAHNua4XJzUKca3OzKUd3vA=="],
 
     "csstype": ["csstype@3.2.3", "", {}, "sha512-z1HGKcYy2xA8AGQfwrn0PAy+PB7X/GSj3UVJW9qKyn43xWa+gl5nXmU4qqLMRzWVLFC8KusUX8T/0kCiOYpAIQ=="],
@@ -393,12 +438,16 @@
 
     "define-properties": ["define-properties@1.2.1", "", { "dependencies": { "define-data-property": "^1.0.1", "has-property-descriptors": "^1.0.0", "object-keys": "^1.1.1" } }, "sha512-8QmQKqEASLd5nx0U1B1okLElbUuuttJ/AnYmRXbbbGDWh6uS208EjD4Xqq/I9wK7u0v6O08XhTWnt5XtEbR6Dg=="],
 
+    "detect-gpu": ["detect-gpu@5.0.70", "", { "dependencies": { "webgl-constants": "^1.1.1" } }, "sha512-bqerEP1Ese6nt3rFkwPnGbsUF9a4q+gMmpTVVOEzoCyeCc+y7/RvJnQZJx1JwhgQI5Ntg0Kgat8Uu7XpBqnz1w=="],
+
     "detect-libc": ["detect-libc@2.1.2", "", {}, "sha512-Btj2BOOO83o3WyH59e8MgXsxEQVcarkUOpEYrubB0urwnN10yQ364rsiByU11nZlqWYZm05i/of7io4mzihBtQ=="],
 
     "doctrine": ["doctrine@2.1.0", "", { "dependencies": { "esutils": "^2.0.2" } }, "sha512-35mSku4ZXK0vfCuHEDAwt55dg2jNajHZ1odvF+8SSr82EsZY4QmXfuWso8oEd8zRhVObSN18aM0CjSdoBX7zIw=="],
 
     "dom-helpers": ["dom-helpers@5.2.1", "", { "dependencies": { "@babel/runtime": "^7.8.7", "csstype": "^3.0.2" } }, "sha512-nRCa7CK3VTrM2NmGkIy4cbK7IZlgBE/PYMn55rrXefr5xXDP0LdtfPnblFDoVdcAfslJ7or6iqAUnx0CCGIWQA=="],
 
+    "draco3d": ["draco3d@1.5.7", "", {}, "sha512-m6WCKt/erDXcw+70IJXnG7M3awwQPAsZvJGX5zY7beBqpELw6RDGkYVU0W43AFxye4pDZ5i2Lbyc/NNGqwjUVQ=="],
+
     "dunder-proto": ["dunder-proto@1.0.1", "", { "dependencies": { "call-bind-apply-helpers": "^1.0.1", "es-errors": "^1.3.0", "gopd": "^1.2.0" } }, "sha512-KIN/nDJBQRcXw0MLVhZE9iQHmG68qAVIBg9CqmUYjmQIhgij9U5MFvrqkUL5FbtyyzZuOeOt0zdeRe4UY7ct+A=="],
 
     "emoji-regex": ["emoji-regex@9.2.2", "", {}, "sha512-L18DaJsXSUk2+42pv8mLs5jJT2hqFkFE4j21wOmgbUqsZ2hL72NsUU785g9RXgo3s0ZNgVl42TiHp3ZtOv/Vyg=="],
@@ -471,6 +520,8 @@
 
     "fdir": ["fdir@6.5.0", "", { "peerDependencies": { "picomatch": "^3 || ^4" }, "optionalPeers": ["picomatch"] }, "sha512-tIbYtZbucOs0BRGqPJkshJUYdL+SDH7dVM8gjy+ERp3WAUjLEFJE+02kanyHtwjWOnwrKYBiwAmM0p4kLJAnXg=="],
 
+    "fflate": ["fflate@0.8.2", "", {}, "sha512-cPJU47OaAoCbg0pBvzsgpTPhmhqI5eJjh/JIu8tPj5q+T7iLvW/JAYUqmE7KOB4R1ZyEhzBaIQpQpardBF5z8A=="],
+
     "file-entry-cache": ["file-entry-cache@8.0.0", "", { "dependencies": { "flat-cache": "^4.0.0" } }, "sha512-XXTUwCvisa5oacNGRP9SfNtYBNAMi+RPwBFmblZEF7N7swHYQS6/Zfk7SRwx4D5j3CH211YNRco1DEMNVfZCnQ=="],
 
     "fill-range": ["fill-range@7.1.1", "", { "dependencies": { "to-regex-range": "^5.0.1" } }, "sha512-YsGpe3WHLK8ZYi4tWDg2Jy3ebRz2rXowDxnld4bkQB00cc/1Zw9AWnC0i9ztDJitivtQvaI9KaLyKrc+hBW0yg=="],
@@ -505,6 +556,8 @@
 
     "globalthis": ["globalthis@1.0.4", "", { "dependencies": { "define-properties": "^1.2.1", "gopd": "^1.0.1" } }, "sha512-DpLKbNU4WylpxJykQujfCcwYWiV/Jhm50Goo0wrVILAv5jOr9d+H+UR3PhSCD2rCCEIg0uc+G+muBTwD54JhDQ=="],
 
+    "glsl-noise": ["glsl-noise@0.0.0", "", {}, "sha512-b/ZCF6amfAUb7dJM/MxRs7AetQEahYzJ8PtgfrmEdtw6uyGOr+ZSGtgjFm6mfsBkxJ4d2W7kg+Nlqzqvn3Bc0w=="],
+
     "gopd": ["gopd@1.2.0", "", {}, "sha512-ZUKRh6/kUFoAiTAtTYPZJ3hw9wNxx+BIBOijnlG9PnrJsCcSjs1wyyD6vJpaYtgnzDrKYRSqf3OO6Rfa93xsRg=="],
 
     "graceful-fs": ["graceful-fs@4.2.11", "", {}, "sha512-RbJ5/jmFcNNCcDV5o9eTnBLJ/HszWV0P73bc+Ff4nS/rJj+YaS6IGyiOL0VoBYX+l1Wrl3k63h/KrH+nhJ0XvQ=="],
@@ -523,10 +576,16 @@
 
     "hasown": ["hasown@2.0.2", "", { "dependencies": { "function-bind": "^1.1.2" } }, "sha512-0hJU9SCPvmMzIBdZFqNPXWa6dqh7WdH0cII9y+CyS8rG3nL48Bclra9HmKhVVUHyPWNH5Y7xDwAB7bfgSjkUMQ=="],
 
+    "hls.js": ["hls.js@1.6.15", "", {}, "sha512-E3a5VwgXimGHwpRGV+WxRTKeSp2DW5DI5MWv34ulL3t5UNmyJWCQ1KmLEHbYzcfThfXG8amBL+fCYPneGHC4VA=="],
+
     "hyparquet": ["hyparquet@1.25.0", "", {}, "sha512-isJx+RplYT3aJc5yhaG5CeOZSBJecHZgYsUi7NE6P/nAbxxA0hZcyul0tUsWCQLc9QXYQ2uFyYBrk61JbJO0cg=="],
 
+    "ieee754": ["ieee754@1.2.1", "", {}, "sha512-dcyqhDvX1C46lXZcVqCpK+FtMRQVdIMN6/Df5js2zouUsqG7I6sFxitIC+7KYK29KdXOLHdu9zL4sFnoVQnqaA=="],
+
     "ignore": ["ignore@5.3.2", "", {}, "sha512-hsBTNUqQTDwkWtcdYI2i06Y/nUBEsNEDJKjWdigLvegy8kDuJAS8uRlpkkcQpyEXL0Z/pjDy5HBmMjRCJ2gq+g=="],
 
+    "immediate": ["immediate@3.0.6", "", {}, "sha512-XXOFtyqDjNDAQxVfYxuF7g9Il/IbWmmlQg2MYKOH8ExIT1qg6xc4zyS3HaEEATgs1btfzxq15ciUiY7gjSXRGQ=="],
+
     "import-fresh": ["import-fresh@3.3.1", "", { "dependencies": { "parent-module": "^1.0.0", "resolve-from": "^4.0.0" } }, "sha512-TR3KfrTZTYLPB6jUjfx6MF9WcWrHL9su5TObK4ZkYgBdWKPOFoSoQIdEuTuR82pmtxH2spWG9h6etwfr1pLBqQ=="],
 
     "imurmurhash": ["imurmurhash@0.1.4", "", {}, "sha512-JmXMZ6wuvDmLiHEml9ykzqO6lwFbof0GG4IkcGaENdCRDDmMVnny7s5HsIgHCbaq0w2MyPhDqkhTUgS2LU2PHA=="],
@@ -569,6 +628,8 @@
 
     "is-number-object": ["is-number-object@1.1.1", "", { "dependencies": { "call-bound": "^1.0.3", "has-tostringtag": "^1.0.2" } }, "sha512-lZhclumE1G6VYD8VHe35wFaIif+CTy5SJIi5+3y4psDgWu4wPDoBhF8NxUOinEc7pHgiTsT6MaBb92rKhhD+Xw=="],
 
+    "is-promise": ["is-promise@2.2.2", "", {}, "sha512-+lP4/6lKUBfQjZ2pdxThZvLUAafmZb8OAxFb8XXtiQmS35INgr85hdOGoEs124ez1FCnZJt6jau/T+alh58QFQ=="],
+
     "is-regex": ["is-regex@1.2.1", "", { "dependencies": { "call-bound": "^1.0.2", "gopd": "^1.2.0", "has-tostringtag": "^1.0.2", "hasown": "^2.0.2" } }, "sha512-MjYsKHO5O7mCsmRGxWcLWheFqN9DJ/2TmngvjKXihe6efViPqc274+Fx/4fYj/r03+ESvBdTXK0V6tA3rgez1g=="],
 
     "is-set": ["is-set@2.0.3", "", {}, "sha512-iPAjerrse27/ygGLxw+EBR9agv9Y6uLeYVJMu+QNCoouJ1/1ri0mGrcWpfCqFZuzzx3WjtwxG098X+n4OuRkPg=="],
@@ -593,6 +654,8 @@
 
     "iterator.prototype": ["iterator.prototype@1.1.5", "", { "dependencies": { "define-data-property": "^1.1.4", "es-object-atoms": "^1.0.0", "get-intrinsic": "^1.2.6", "get-proto": "^1.0.0", "has-symbols": "^1.1.0", "set-function-name": "^2.0.2" } }, "sha512-H0dkQoCa3b2VEeKQBOxFph+JAbcrQdE7KC0UkqwpLmv2EC4P41QXP+rqo9wYodACiG5/WM5s9oDApTU8utwj9g=="],
 
+    "its-fine": ["its-fine@2.0.0", "", { "dependencies": { "@types/react-reconciler": "^0.28.9" }, "peerDependencies": { "react": "^19.0.0" } }, "sha512-KLViCmWx94zOvpLwSlsx6yOCeMhZYaxrJV87Po5k/FoZzcPSahvK5qJ7fYhS61sZi5ikmh2S3Hz55A2l3U69ng=="],
+
     "jiti": ["jiti@2.6.1", "", { "bin": { "jiti": "lib/jiti-cli.mjs" } }, "sha512-ekilCSN1jwRvIbgeg/57YFh8qQDNbwDb9xT/qu2DAHbFFZUicIl4ygVaAvzveMhMVr3LnpSKTNnwt8PoOfmKhQ=="],
 
     "js-tokens": ["js-tokens@4.0.0", "", {}, "sha512-RdJUflcE3cUzKiMqQgsCu06FPu9UdIJO0beYbPhHN4k6apgJtifcoCtT9bcxOpYBtpD2kCM6Sbzg4CausW/PKQ=="],
@@ -617,6 +680,8 @@
 
     "levn": ["levn@0.4.1", "", { "dependencies": { "prelude-ls": "^1.2.1", "type-check": "~0.4.0" } }, "sha512-+bT2uH4E5LGE7h/n3evcS/sQlJXCpIp6ym8OWJ5eV6+67Dsql/LaaT7qJBAt2rzfoa/5QBGBhxDix1dMt2kQKQ=="],
 
+    "lie": ["lie@3.3.0", "", { "dependencies": { "immediate": "~3.0.5" } }, "sha512-UaiMJzeWRlEujzAuw5LokY1L5ecNQYZKfmyZ9L7wDHb/p5etKaxXhohBcrw0EYby+G/NA52vRSN4N39dxHAIwQ=="],
+
     "lightningcss": ["lightningcss@1.30.2", "", { "dependencies": { "detect-libc": "^2.0.3" }, "optionalDependencies": { "lightningcss-android-arm64": "1.30.2", "lightningcss-darwin-arm64": "1.30.2", "lightningcss-darwin-x64": "1.30.2", "lightningcss-freebsd-x64": "1.30.2", "lightningcss-linux-arm-gnueabihf": "1.30.2", "lightningcss-linux-arm64-gnu": "1.30.2", "lightningcss-linux-arm64-musl": "1.30.2", "lightningcss-linux-x64-gnu": "1.30.2", "lightningcss-linux-x64-musl": "1.30.2", "lightningcss-win32-arm64-msvc": "1.30.2", "lightningcss-win32-x64-msvc": "1.30.2" } }, "sha512-utfs7Pr5uJyyvDETitgsaqSyjCb2qNRAtuqUeWIAKztsOYdcACf2KtARYXg2pSvhkt+9NfoaNY7fxjl6nuMjIQ=="],
 
     "lightningcss-android-arm64": ["lightningcss-android-arm64@1.30.2", "", { "os": "android", "cpu": "arm64" }, "sha512-BH9sEdOCahSgmkVhBLeU7Hc9DWeZ1Eb6wNS6Da8igvUwAe0sqROHddIlvU06q3WyXVEOYDZ6ykBZQnjTbmo4+A=="],
@@ -649,12 +714,18 @@
 
     "loose-envify": ["loose-envify@1.4.0", "", { "dependencies": { "js-tokens": "^3.0.0 || ^4.0.0" }, "bin": { "loose-envify": "cli.js" } }, "sha512-lyuxPGr/Wfhrlem2CL/UcnUc1zcqKAImBDzukY7Y5F/yQiNdko6+fRLevlw1HgMySw7f611UIY408EtxRSoK3Q=="],
 
+    "maath": ["maath@0.10.8", "", { "peerDependencies": { "@types/three": ">=0.134.0", "three": ">=0.134.0" } }, "sha512-tRvbDF0Pgqz+9XUa4jjfgAQ8/aPKmQdWXilFu2tMy4GWj4NOsx99HlULO4IeREfbO3a0sA145DZYyvXPkybm0g=="],
+
     "magic-string": ["magic-string@0.30.21", "", { "dependencies": { "@jridgewell/sourcemap-codec": "^1.5.5" } }, "sha512-vd2F4YUyEXKGcLHoq+TEyCjxueSeHnFxyyjNp80yg0XV4vUhnDer/lvvlqM/arB5bXQN5K2/3oinyCRyx8T2CQ=="],
 
     "math-intrinsics": ["math-intrinsics@1.1.0", "", {}, "sha512-/IXtbwEk5HTPyEwyKX6hGkYXxM9nbj64B+ilVJnC/R6B0pH5G4V3b0pVbL7DBj4tkhBAppbQUlf6F6Xl9LHu1g=="],
 
     "merge2": ["merge2@1.4.1", "", {}, "sha512-8q7VEgMJW4J8tcfVPy8g09NcQwZdbwFEqhe/WZkoIzjn/3TGDwtOCYtXGxA3O8tPzpczCCDgv+P2P5y00ZJOOg=="],
 
+    "meshline": ["meshline@3.3.1", "", { "peerDependencies": { "three": ">=0.137" } }, "sha512-/TQj+JdZkeSUOl5Mk2J7eLcYTLiQm2IDzmlSvYm7ov15anEcDJ92GHqqazxTSreeNgfnYu24kiEvvv0WlbCdFQ=="],
+
+    "meshoptimizer": ["meshoptimizer@0.22.0", "", {}, "sha512-IebiK79sqIy+E4EgOr+CAw+Ke8hAspXKzBd0JdgEmPHiAwmvEj2S4h1rfvo+o/BnfEYd/jAOg5IeeIjzlzSnDg=="],
+
     "micromatch": ["micromatch@4.0.8", "", { "dependencies": { "braces": "^3.0.3", "picomatch": "^2.3.1" } }, "sha512-PXwfBhYu0hBCPw8Dn0E+WDYb7af3dSLVWKi3HGv84IdF4TyFoC0ysxFd0Goxw7nSv4T/PzEJQxsYsEiFCKo2BA=="],
 
     "minimatch": ["minimatch@3.1.2", "", { "dependencies": { "brace-expansion": "^1.1.7" } }, "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw=="],
@@ -711,10 +782,14 @@
 
     "postcss": ["postcss@8.5.6", "", { "dependencies": { "nanoid": "^3.3.11", "picocolors": "^1.1.1", "source-map-js": "^1.2.1" } }, "sha512-3Ybi1tAuwAP9s0r1UQ2J4n5Y0G05bJkpUIO0/bI9MhwmD70S5aTWbXGBwxHrelT+XM1k6dM0pk+SwNkpTRN7Pg=="],
 
+    "potpack": ["potpack@1.0.2", "", {}, "sha512-choctRBIV9EMT9WGAZHn3V7t0Z2pMQyl0EZE6pFc/6ml3ssw7Dlf/oAOvFwjm1HVsqfQN8GfeFyJ+d8tRzqueQ=="],
+
     "prelude-ls": ["prelude-ls@1.2.1", "", {}, "sha512-vkcDPrRZo1QZLbn5RLGPpg/WmIQ65qoWWhcGKf/b5eplkkarX0m9z8ppCat4mlOqUsWpyNuYgO3VRyrYHSzX5g=="],
 
     "prettier": ["prettier@3.8.1", "", { "bin": { "prettier": "bin/prettier.cjs" } }, "sha512-UOnG6LftzbdaHZcKoPFtOcCKztrQ57WkHDeRD9t/PTQtmT0NHSeWWepj6pS0z/N7+08BHFDQVUrfmfMRcZwbMg=="],
 
+    "promise-worker-transferable": ["promise-worker-transferable@1.0.4", "", { "dependencies": { "is-promise": "^2.1.0", "lie": "^3.0.2" } }, "sha512-bN+0ehEnrXfxV2ZQvU2PetO0n4gqBD4ulq3MI1WOPLgr7/Mg9yRQkX5+0v1vagr74ZTsl7XtzlaYDo2EuCeYJw=="],
+
     "prop-types": ["prop-types@15.8.1", "", { "dependencies": { "loose-envify": "^1.4.0", "object-assign": "^4.1.1", "react-is": "^16.13.1" } }, "sha512-oj87CgZICdulUohogVAR7AjlC0327U4el4L6eAvOqCeudMDVU0NThNaV+b9Df4dXgSP1gXMTnPdhfe/2qDH5cg=="],
 
     "punycode": ["punycode@2.3.1", "", {}, "sha512-vYt7UD1U9Wg6138shLtLOvdAu+8DsC/ilFtEVHcH+wydcSpNE20AfSOduf6MkRFahL5FY7X1oU7nKVZFtfq8Fg=="],
@@ -733,6 +808,8 @@
 
     "react-transition-group": ["react-transition-group@4.4.5", "", { "dependencies": { "@babel/runtime": "^7.5.5", "dom-helpers": "^5.0.1", "loose-envify": "^1.4.0", "prop-types": "^15.6.2" }, "peerDependencies": { "react": ">=16.6.0", "react-dom": ">=16.6.0" } }, "sha512-pZcd1MCJoiKiBR2NRxeCRg13uCXbydPnmB4EOeRrY7480qNWO8IIgQG6zlDkm6uRMsURXPuKq0GWtiM59a5Q6g=="],
 
+    "react-use-measure": ["react-use-measure@2.1.7", "", { "peerDependencies": { "react": ">=16.13", "react-dom": ">=16.13" }, "optionalPeers": ["react-dom"] }, "sha512-KrvcAo13I/60HpwGO5jpW7E9DfusKyLPLvuHlUyP5zqnmAPhNc6qTRjUQrdTADl0lpPpDVU2/Gg51UlOGHXbdg=="],
+
     "recharts": ["recharts@2.15.4", "", { "dependencies": { "clsx": "^2.0.0", "eventemitter3": "^4.0.1", "lodash": "^4.17.21", "react-is": "^18.3.1", "react-smooth": "^4.0.4", "recharts-scale": "^0.4.4", "tiny-invariant": "^1.3.1", "victory-vendor": "^36.6.8" }, "peerDependencies": { "react": "^16.0.0 || ^17.0.0 || ^18.0.0 || ^19.0.0", "react-dom": "^16.0.0 || ^17.0.0 || ^18.0.0 || ^19.0.0" } }, "sha512-UT/q6fwS3c1dHbXv2uFgYJ9BMFHu3fwnd7AYZaEQhXuYQ4hgsxLvsUXzGdKeZrW5xopzDCvuA2N41WJ88I7zIw=="],
 
     "recharts-scale": ["recharts-scale@0.4.5", "", { "dependencies": { "decimal.js-light": "^2.4.1" } }, "sha512-kivNFO+0OcUNu7jQquLXAxz1FIwZj8nrj+YkOKc5694NbjCvcT6aSZiIzNzd2Kul4o4rTto8QVR9lMNtxD4G1w=="],
@@ -741,6 +818,8 @@
 
     "regexp.prototype.flags": ["regexp.prototype.flags@1.5.4", "", { "dependencies": { "call-bind": "^1.0.8", "define-properties": "^1.2.1", "es-errors": "^1.3.0", "get-proto": "^1.0.1", "gopd": "^1.2.0", "set-function-name": "^2.0.2" } }, "sha512-dYqgNSZbDwkaJ2ceRd9ojCGjBq+mOm9LmtXnAnEGyHhN/5R7iDW2TRw3h+o/jCFxus3P2LfWIIiwowAjANm7IA=="],
 
+    "require-from-string": ["require-from-string@2.0.2", "", {}, "sha512-Xf0nWe6RseziFMu+Ap9biiUbmplq6S9/p+7w7YXP/JBHhrUDDUhwa+vANyubuqfZWTveU//DYVGsDG7RKL/vEw=="],
+
     "resolve": ["resolve@1.22.11", "", { "dependencies": { "is-core-module": "^2.16.1", "path-parse": "^1.0.7", "supports-preserve-symlinks-flag": "^1.0.0" }, "bin": { "resolve": "bin/resolve" } }, "sha512-RfqAvLnMl313r7c9oclB1HhUEAezcpLjz95wFH4LVuhk9JF/r22qmVP9AMmOU4vMX7Q8pN8jwNg/CSpdFnMjTQ=="],
 
     "resolve-from": ["resolve-from@4.0.0", "", {}, "sha512-pb/MYmXstAkysRFx8piNI1tGFNQIFA3vkE3Gq4EuA1dF6gHp/+vgZqsCGJapvy8N3Q+4o7FwvquPJcnZ7RYy4g=="],
@@ -785,6 +864,10 @@
 
     "stable-hash": ["stable-hash@0.0.5", "", {}, "sha512-+L3ccpzibovGXFK+Ap/f8LOS0ahMrHTf3xu7mMLSpEGU0EO9ucaysSylKo9eRDFNhWve/y275iPmIZ4z39a9iA=="],
 
+    "stats-gl": ["stats-gl@2.4.2", "", { "dependencies": { "@types/three": "*", "three": "^0.170.0" } }, "sha512-g5O9B0hm9CvnM36+v7SFl39T7hmAlv541tU81ME8YeSb3i1CIP5/QdDeSB3A0la0bKNHpxpwxOVRo2wFTYEosQ=="],
+
+    "stats.js": ["stats.js@0.17.0", "", {}, "sha512-hNKz8phvYLPEcRkeG1rsGmV5ChMjKDAWU7/OJJdDErPBNChQXxCo3WZurGpnWc6gZhAzEPFad1aVgyOANH1sMw=="],
+
     "stop-iteration-iterator": ["stop-iteration-iterator@1.1.0", "", { "dependencies": { "es-errors": "^1.3.0", "internal-slot": "^1.1.0" } }, "sha512-eLoXW/DHyl62zxY4SCaIgnRhuMr6ri4juEYARS8E6sCEqzKpOiE521Ucofdx+KnDZl5xmvGYaaKCk5FEOxJCoQ=="],
 
     "streamsearch": ["streamsearch@1.1.0", "", {}, "sha512-Mcc5wHehp9aXz1ax6bZUyY5afg9u2rv5cqQI3mRrYkGC8rW2hM02jWuwjtL++LS5qinSyhj2QfLyNsuc+VsExg=="],
@@ -811,22 +894,38 @@
 
     "supports-preserve-symlinks-flag": ["supports-preserve-symlinks-flag@1.0.0", "", {}, "sha512-ot0WnXS9fgdkgIcePe6RHNk1WA8+muPa6cSjeR3V8K27q9BB1rTE3R1p7Hv0z1ZyAc8s6Vvv8DIyWf681MAt0w=="],
 
+    "suspend-react": ["suspend-react@0.1.3", "", { "peerDependencies": { "react": ">=17.0" } }, "sha512-aqldKgX9aZqpoDp3e8/BZ8Dm7x1pJl+qI3ZKxDN0i/IQTWUwBx/ManmlVJ3wowqbno6c2bmiIfs+Um6LbsjJyQ=="],
+
     "tailwindcss": ["tailwindcss@4.1.18", "", {}, "sha512-4+Z+0yiYyEtUVCScyfHCxOYP06L5Ne+JiHhY2IjR2KWMIWhJOYZKLSGZaP5HkZ8+bY0cxfzwDE5uOmzFXyIwxw=="],
 
     "tapable": ["tapable@2.3.0", "", {}, "sha512-g9ljZiwki/LfxmQADO3dEY1CbpmXT5Hm2fJ+QaGKwSXUylMybePR7/67YW7jOrrvjEgL1Fmz5kzyAjWVWLlucg=="],
 
+    "three": ["three@0.182.0", "", {}, "sha512-GbHabT+Irv+ihI1/f5kIIsZ+Ef9Sl5A1Y7imvS5RQjWgtTPfPnZ43JmlYI7NtCRDK9zir20lQpfg8/9Yd02OvQ=="],
+
+    "three-mesh-bvh": ["three-mesh-bvh@0.8.3", "", { "peerDependencies": { "three": ">= 0.159.0" } }, "sha512-4G5lBaF+g2auKX3P0yqx+MJC6oVt6sB5k+CchS6Ob0qvH0YIhuUk1eYr7ktsIpY+albCqE80/FVQGV190PmiAg=="],
+
+    "three-stdlib": ["three-stdlib@2.36.1", "", { "dependencies": { "@types/draco3d": "^1.4.0", "@types/offscreencanvas": "^2019.6.4", "@types/webxr": "^0.5.2", "draco3d": "^1.4.1", "fflate": "^0.6.9", "potpack": "^1.0.1" }, "peerDependencies": { "three": ">=0.128.0" } }, "sha512-XyGQrFmNQ5O/IoKm556ftwKsBg11TIb301MB5dWNicziQBEs2g3gtOYIf7pFiLa0zI2gUwhtCjv9fmjnxKZ1Cg=="],
+
     "tiny-invariant": ["tiny-invariant@1.3.3", "", {}, "sha512-+FbBPE1o9QAYvviau/qC5SE3caw21q3xkvWKBtja5vgqOWIHHJ3ioaq1VPfn/Szqctz2bU/oYeKd9/z5BL+PVg=="],
 
     "tinyglobby": ["tinyglobby@0.2.15", "", { "dependencies": { "fdir": "^6.5.0", "picomatch": "^4.0.3" } }, "sha512-j2Zq4NyQYG5XMST4cbs02Ak8iJUdxRM0XI5QyxXuZOzKOINmWurp3smXu3y5wDcJrptwpSjgXHzIQxR0omXljQ=="],
 
     "to-regex-range": ["to-regex-range@5.0.1", "", { "dependencies": { "is-number": "^7.0.0" } }, "sha512-65P7iz6X5yEr1cwcgvQxbbIw7Uk3gOy5dIdtZ4rDveLqhrdJP+Li/Hx6tyK0NEb+2GCyneCMJiGqrADCSNk8sQ=="],
 
+    "troika-three-text": ["troika-three-text@0.52.4", "", { "dependencies": { "bidi-js": "^1.0.2", "troika-three-utils": "^0.52.4", "troika-worker-utils": "^0.52.0", "webgl-sdf-generator": "1.1.1" }, "peerDependencies": { "three": ">=0.125.0" } }, "sha512-V50EwcYGruV5rUZ9F4aNsrytGdKcXKALjEtQXIOBfhVoZU9VAqZNIoGQ3TMiooVqFAbR1w15T+f+8gkzoFzawg=="],
+
+    "troika-three-utils": ["troika-three-utils@0.52.4", "", { "peerDependencies": { "three": ">=0.125.0" } }, "sha512-NORAStSVa/BDiG52Mfudk4j1FG4jC4ILutB3foPnfGbOeIs9+G5vZLa0pnmnaftZUGm4UwSoqEpWdqvC7zms3A=="],
+
+    "troika-worker-utils": ["troika-worker-utils@0.52.0", "", {}, "sha512-W1CpvTHykaPH5brv5VHLfQo9D1OYuo0cSBEUQFFT/nBUzM8iD6Lq2/tgG/f1OelbAS1WtaTPQzE5uM49egnngw=="],
+
     "ts-api-utils": ["ts-api-utils@2.4.0", "", { "peerDependencies": { "typescript": ">=4.8.4" } }, "sha512-3TaVTaAv2gTiMB35i3FiGJaRfwb3Pyn/j3m/bfAvGe8FB7CF6u+LMYqYlDh7reQf7UNvoTvdfAqHGmPGOSsPmA=="],
 
     "tsconfig-paths": ["tsconfig-paths@3.15.0", "", { "dependencies": { "@types/json5": "^0.0.29", "json5": "^1.0.2", "minimist": "^1.2.6", "strip-bom": "^3.0.0" } }, "sha512-2Ac2RgzDe/cn48GvOe3M+o82pEFewD3UPbyoUHHdKasHwJKjds4fLXWf/Ux5kATBKN20oaFGu+jbElp1pos0mg=="],
 
     "tslib": ["tslib@2.8.1", "", {}, "sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w=="],
 
+    "tunnel-rat": ["tunnel-rat@0.1.2", "", { "dependencies": { "zustand": "^4.3.2" } }, "sha512-lR5VHmkPhzdhrM092lI2nACsLO4QubF0/yoOhzX7c+wIpbN1GjHNzCc91QlpxBi+cnx8vVJ+Ur6vL5cEoQPFpQ=="],
+
     "type-check": ["type-check@0.4.0", "", { "dependencies": { "prelude-ls": "^1.2.1" } }, "sha512-XleUoc9uwGXqjWwXaUTZAmzMcFZ5858QA2vvx1Ur5xIcixXIP+8LnFDgRplU30us6teqdlskFfu+ae4K79Ooew=="],
 
     "typed-array-buffer": ["typed-array-buffer@1.0.3", "", { "dependencies": { "call-bound": "^1.0.3", "es-errors": "^1.3.0", "is-typed-array": "^1.1.14" } }, "sha512-nAYYwfY3qnzX30IkA6AQZjVbtK6duGontcQm1WSG1MD94YLqK0515GNApXkoxKOWMusVssAHWLh9SeaoefYFGw=="],
@@ -845,10 +944,20 @@
 
     "unrs-resolver": ["unrs-resolver@1.11.1", "", { "dependencies": { "napi-postinstall": "^0.3.0" }, "optionalDependencies": { "@unrs/resolver-binding-android-arm-eabi": "1.11.1", "@unrs/resolver-binding-android-arm64": "1.11.1", "@unrs/resolver-binding-darwin-arm64": "1.11.1", "@unrs/resolver-binding-darwin-x64": "1.11.1", "@unrs/resolver-binding-freebsd-x64": "1.11.1", "@unrs/resolver-binding-linux-arm-gnueabihf": "1.11.1", "@unrs/resolver-binding-linux-arm-musleabihf": "1.11.1", "@unrs/resolver-binding-linux-arm64-gnu": "1.11.1", "@unrs/resolver-binding-linux-arm64-musl": "1.11.1", "@unrs/resolver-binding-linux-ppc64-gnu": "1.11.1", "@unrs/resolver-binding-linux-riscv64-gnu": "1.11.1", "@unrs/resolver-binding-linux-riscv64-musl": "1.11.1", "@unrs/resolver-binding-linux-s390x-gnu": "1.11.1", "@unrs/resolver-binding-linux-x64-gnu": "1.11.1", "@unrs/resolver-binding-linux-x64-musl": "1.11.1", "@unrs/resolver-binding-wasm32-wasi": "1.11.1", "@unrs/resolver-binding-win32-arm64-msvc": "1.11.1", "@unrs/resolver-binding-win32-ia32-msvc": "1.11.1", "@unrs/resolver-binding-win32-x64-msvc": "1.11.1" } }, "sha512-bSjt9pjaEBnNiGgc9rUiHGKv5l4/TGzDmYw3RhnkJGtLhbnnA/5qJj7x3dNDCRx/PJxu774LlH8lCOlB4hEfKg=="],
 
+    "urdf-loader": ["urdf-loader@0.12.6", "", { "peerDependencies": { "three": ">=0.152.0" } }, "sha512-EwpgOCPe6Tep2+MXoo/r13keHaKQXMcM+4s9+jX0NRxNS/QSNuP5JPdk5AIgWEoEB43AkEj9Vk+Nr53NkXgSbA=="],
+
     "uri-js": ["uri-js@4.4.1", "", { "dependencies": { "punycode": "^2.1.0" } }, "sha512-7rKUyy33Q1yc98pQ1DAmLtwX109F7TIfWlW1Ydo8Wl1ii1SeHieeh0HHfPeL2fMXK6z0s8ecKs9frCuLJvndBg=="],
 
+    "use-sync-external-store": ["use-sync-external-store@1.6.0", "", { "peerDependencies": { "react": "^16.8.0 || ^17.0.0 || ^18.0.0 || ^19.0.0" } }, "sha512-Pp6GSwGP/NrPIrxVFAIkOQeyw8lFenOHijQWkUTrDvrF4ALqylP2C/KCkeS9dpUM3KvYRQhna5vt7IL95+ZQ9w=="],
+
+    "utility-types": ["utility-types@3.11.0", "", {}, "sha512-6Z7Ma2aVEWisaL6TvBCy7P8rm2LQoPv6dJ7ecIaIixHcwfbJ0x7mWdbcwlIM5IGQxPZSFYeqRCqlOOeKoJYMkw=="],
+
     "victory-vendor": ["victory-vendor@36.9.2", "", { "dependencies": { "@types/d3-array": "^3.0.3", "@types/d3-ease": "^3.0.0", "@types/d3-interpolate": "^3.0.1", "@types/d3-scale": "^4.0.2", "@types/d3-shape": "^3.1.0", "@types/d3-time": "^3.0.0", "@types/d3-timer": "^3.0.0", "d3-array": "^3.1.6", "d3-ease": "^3.0.1", "d3-interpolate": "^3.0.1", "d3-scale": "^4.0.2", "d3-shape": "^3.1.0", "d3-time": "^3.0.0", "d3-timer": "^3.0.1" } }, "sha512-PnpQQMuxlwYdocC8fIJqVXvkeViHYzotI+NJrCuav0ZYFoq912ZHBk3mCeuj+5/VpodOjPe1z0Fk2ihgzlXqjQ=="],
 
+    "webgl-constants": ["webgl-constants@1.1.1", "", {}, "sha512-LkBXKjU5r9vAW7Gcu3T5u+5cvSvh5WwINdr0C+9jpzVB41cjQAP5ePArDtk/WHYdVj0GefCgM73BA7FlIiNtdg=="],
+
+    "webgl-sdf-generator": ["webgl-sdf-generator@1.1.1", "", {}, "sha512-9Z0JcMTFxeE+b2x1LJTdnaT8rT8aEp7MVxkNwoycNmJWwPdzoXzMh0BjJSh/AEFP+KPYZUli814h8bJZFIZ2jA=="],
+
     "which": ["which@2.0.2", "", { "dependencies": { "isexe": "^2.0.0" }, "bin": { "node-which": "./bin/node-which" } }, "sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA=="],
 
     "which-boxed-primitive": ["which-boxed-primitive@1.1.1", "", { "dependencies": { "is-bigint": "^1.1.0", "is-boolean-object": "^1.2.1", "is-number-object": "^1.1.1", "is-string": "^1.1.1", "is-symbol": "^1.1.1" } }, "sha512-TbX3mj8n0odCBFVlY8AxkqcHASw3L60jIuF8jFP78az3C2YhmGvqbHBpAjTRH2/xqYunrJ9g1jSyjCjpoWzIAA=="],
@@ -863,6 +972,8 @@
 
     "yocto-queue": ["yocto-queue@0.1.0", "", {}, "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q=="],
 
+    "zustand": ["zustand@5.0.11", "", { "peerDependencies": { "@types/react": ">=18.0.0", "immer": ">=9.0.6", "react": ">=18.0.0", "use-sync-external-store": ">=1.2.0" }, "optionalPeers": ["@types/react", "immer", "react", "use-sync-external-store"] }, "sha512-fdZY+dk7zn/vbWNCYmzZULHRrss0jx5pPFiOuMZ/5HJN6Yv3u+1Wswy/4MpZEkEGhtNH+pwxZB8OKgUBPzYAGg=="],
+
     "@eslint-community/eslint-utils/eslint-visitor-keys": ["eslint-visitor-keys@3.4.3", "", {}, "sha512-wpc+LXeiyiisxPlEkUzU6svyS1frIO3Mgxj1fdy7Pm8Ygzguax2N3Fa/D/ag1WqbOprdI+uY6wMUl8/a2G+iag=="],
 
     "@tailwindcss/oxide-wasm32-wasi/@emnapi/core": ["@emnapi/core@1.8.1", "", { "dependencies": { "@emnapi/wasi-threads": "1.1.0", "tslib": "^2.4.0" }, "bundled": true }, "sha512-AvT9QFpxK0Zd8J0jopedNm+w/2fIzvtPKPjqyw9jwvBaReTTqPBk9Hixaz7KbjimP+QNz605/XnjFcDAL2pqBg=="],
@@ -903,6 +1014,12 @@
 
     "sharp/semver": ["semver@7.7.4", "", { "bin": { "semver": "bin/semver.js" } }, "sha512-vFKC2IEtQnVhpT78h1Yp8wzwrf8CM+MzKMHGJZfBtzhZNycRFnXsHk6E5TxIkkMsgNS7mdX3AGB7x2QM2di4lA=="],
 
+    "stats-gl/three": ["three@0.170.0", "", {}, "sha512-FQK+LEpYc0fBD+J8g6oSEyyNzjp+Q7Ks1C568WWaoMRLW+TkNNWmenWeGgJjV105Gd+p/2ql1ZcjYvNiPZBhuQ=="],
+
+    "three-stdlib/fflate": ["fflate@0.6.10", "", {}, "sha512-IQrh3lEPM93wVCEczc9SaAOvkmcoQn/G8Bo1e8ZPlY3X3bnAxWaBdvTdvM1hP62iZp0BXWDy4vTAy4fF0+Dlpg=="],
+
+    "tunnel-rat/zustand": ["zustand@4.5.7", "", { "dependencies": { "use-sync-external-store": "^1.2.2" }, "peerDependencies": { "@types/react": ">=16.8", "immer": ">=9.0.6", "react": ">=16.8" }, "optionalPeers": ["@types/react", "immer", "react"] }, "sha512-CHOUy7mu3lbD6o6LJLfllpjkzhHXSBlX8B9+qPddUsIfeF5S/UZ5q0kmCsnRqT1UHFQZchNFDDzMbQsuesHWlw=="],
+
     "@typescript-eslint/typescript-estree/minimatch/brace-expansion": ["brace-expansion@2.0.2", "", { "dependencies": { "balanced-match": "^1.0.0" } }, "sha512-Jt0vHyM+jmUBqojB7E1NIYadt0vI0Qxjxd2TErW94wDz+E2LAm5vKMXXwg6ZZBTHPuUlDgQHKXvjGBdfcF1ZDQ=="],
   }
 }

next.config.ts

@@ -2,6 +2,13 @@ import type { NextConfig } from "next";
 import packageJson from "./package.json";
 
 const nextConfig: NextConfig = {
+  typescript: {
+    ignoreBuildErrors: true,
+  },
+  eslint: {
+    ignoreDuringBuilds: true,
+  },
+  transpilePackages: ["three"],
   generateBuildId: () => packageJson.version,
 };
 

package.json

@@ -14,15 +14,20 @@
     "validate": "bun run type-check && bun run lint && bun run format:check"
   },
   "dependencies": {
+    "@react-three/drei": "^10.7.7",
+    "@react-three/fiber": "^9.5.0",
     "hyparquet": "^1.12.1",
     "next": "15.3.6",
     "react": "^19.0.0",
     "react-dom": "^19.0.0",
     "react-icons": "^5.5.0",
-    "recharts": "^2.15.3"
+    "recharts": "^2.15.3",
+    "three": "^0.182.0",
+    "urdf-loader": "^0.12.6"
   },
   "devDependencies": {
     "@eslint/eslintrc": "^3",
+    "@types/three": "^0.182.0",
     "@tailwindcss/postcss": "^4",
     "@types/node": "^20",
     "@types/react": "^19",

public/urdf/openarm/assets/body_link0.dae

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public/urdf/openarm/openarm_bimanual.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="openarm">
+  <link name="world" />
+  <joint name="openarm_body_world_joint" type="fixed">
+    <parent link="world" />
+    <child link="openarm_body_link0" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+  </joint>
+  <link name="openarm_body_link0">
+    <visual name="openarm_body_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/body_link0.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision name="openarm_body_link0_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/body_link0.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <mass value="13.89" />
+      <inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051" />
+    </inertial>
+  </link>
+
+  <!-- ═══ LEFT ARM ═══ -->
+  <joint name="openarm_left_openarm_body_link0_joint" type="fixed">
+    <parent link="openarm_body_link0" />
+    <child link="openarm_left_link0" />
+    <origin rpy="-1.5708 0 0" xyz="0.0 0.031 0.698" />
+  </joint>
+  <link name="openarm_left_link0">
+    <visual name="openarm_left_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/link0.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199" />
+      <mass value="1.1432284943239561" />
+      <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
+    </inertial>
+  </link>
+  <link name="openarm_left_link1">
+    <visual name="openarm_left_link1_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
+      <geometry>
+        <mesh filename="assets/link1.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254" />
+      <mass value="1.1416684646202298" />
+      <inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625" />
+    <parent link="openarm_left_link0" />
+    <child link="openarm_left_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="40" lower="-3.490659" upper="1.3962629999999998" velocity="16.754666" />
+  </joint>
+  <link name="openarm_left_link2">
+    <visual name="openarm_left_link2_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
+      <geometry>
+        <mesh filename="assets/link2.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363" />
+      <mass value="0.2775092746011571" />
+      <inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint2" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0301 0.0 0.06" />
+    <parent link="openarm_left_link1" />
+    <child link="openarm_left_link2" />
+    <axis xyz="-1 0 0" />
+    <limit effort="40" lower="-3.3161253267948965" upper="0.17453267320510335" velocity="16.754666" />
+  </joint>
+  <link name="openarm_left_link3">
+    <visual name="openarm_left_link3_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
+      <geometry>
+        <mesh filename="assets/link3.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 -0.0005549085042607548 0.09047470545721961" />
+      <mass value="1.073863338202347" />
+      <inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625" />
+    <parent link="openarm_left_link2" />
+    <child link="openarm_left_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426" />
+  </joint>
+  <link name="openarm_left_link4">
+    <visual name="openarm_left_link4_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
+      <geometry>
+        <mesh filename="assets/link4.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" />
+      <mass value="0.6348534566833373" />
+      <inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375" />
+    <parent link="openarm_left_link3" />
+    <child link="openarm_left_link4" />
+    <axis xyz="0 1 0" />
+    <limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426" />
+  </joint>
+  <link name="openarm_left_link5">
+    <visual name="openarm_left_link5_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
+      <geometry>
+        <mesh filename="assets/link5.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934" />
+      <mass value="0.6156588026168502" />
+      <inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955" />
+    <parent link="openarm_left_link4" />
+    <child link="openarm_left_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+  <link name="openarm_left_link6">
+    <visual name="openarm_left_link6_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link6.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05" />
+      <mass value="0.475202773187987" />
+      <inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205" />
+    <parent link="openarm_left_link5" />
+    <child link="openarm_left_link6" />
+    <axis xyz="1 0 0" />
+    <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946" />
+  </joint>
+  <link name="openarm_left_link7">
+    <visual name="openarm_left_link7_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link7.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448" />
+      <mass value="0.4659771327380578" />
+      <inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0" />
+    <parent link="openarm_left_link6" />
+    <child link="openarm_left_link7" />
+    <axis xyz="0 -1 0" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+
+  <!-- Left hand -->
+  <link name="openarm_left_hand">
+    <visual name="openarm_left_hand_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
+      <geometry>
+        <mesh filename="assets/hand.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.002 0.03" />
+      <mass value="0.35" />
+      <inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521" />
+    </inertial>
+  </link>
+  <joint name="left_openarm_hand_joint" type="fixed">
+    <parent link="openarm_left_link7" />
+    <child link="openarm_left_hand" />
+    <origin rpy="0 0 0" xyz="0 -0.0 0.1001" />
+  </joint>
+  <link name="openarm_left_hand_tcp">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0 0.08" />
+    <parent link="openarm_left_hand" />
+    <child link="openarm_left_hand_tcp" />
+  </joint>
+  <link name="openarm_left_left_finger">
+    <visual name="openarm_left_left_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <link name="openarm_left_right_finger">
+    <visual name="openarm_left_right_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <joint name="openarm_left_finger_joint1" type="prismatic">
+    <parent link="openarm_left_hand" />
+    <child link="openarm_left_right_finger" />
+    <origin rpy="0 0 0" xyz="0 -0.006 0.015" />
+    <axis xyz="0 -1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+  </joint>
+  <joint name="openarm_left_finger_joint2" type="prismatic">
+    <parent link="openarm_left_hand" />
+    <child link="openarm_left_left_finger" />
+    <origin rpy="0 0 0" xyz="0 0.006 0.015" />
+    <axis xyz="0 1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+    <mimic joint="openarm_left_finger_joint1" />
+  </joint>
+
+  <!-- ═══ RIGHT ARM ═══ -->
+  <joint name="openarm_right_openarm_body_link0_joint" type="fixed">
+    <parent link="openarm_body_link0" />
+    <child link="openarm_right_link0" />
+    <origin rpy="1.5708 0 0" xyz="0.0 -0.031 0.698" />
+  </joint>
+  <link name="openarm_right_link0">
+    <visual name="openarm_right_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="assets/link0.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" />
+      <mass value="1.1432284943239561" />
+      <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
+    </inertial>
+  </link>
+  <link name="openarm_right_link1">
+    <visual name="openarm_right_link1_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
+      <geometry>
+        <mesh filename="assets/link1.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" />
+      <mass value="1.1416684646202298" />
+      <inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625" />
+    <parent link="openarm_right_link0" />
+    <child link="openarm_right_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="40" lower="-1.396263" upper="3.490659" velocity="16.754666" />
+  </joint>
+  <link name="openarm_right_link2">
+    <visual name="openarm_right_link2_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
+      <geometry>
+        <mesh filename="assets/link2.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" />
+      <mass value="0.2775092746011571" />
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+    </inertial>
+  </link>
+  <joint name="openarm_right_joint2" type="revolute">
+    <origin rpy="1.57079632679 0 0" xyz="-0.0301 0.0 0.06" />
+    <parent link="openarm_right_link1" />
+    <child link="openarm_right_link2" />
+    <axis xyz="-1 0 0" />
+    <limit effort="40" lower="-0.17453267320510335" upper="3.3161253267948965" velocity="16.754666" />
+  </joint>
+  <link name="openarm_right_link3">
+    <visual name="openarm_right_link3_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
+      <geometry>
+        <mesh filename="assets/link3.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" />
+      <mass value="1.073863338202347" />
+      <inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625" />
+    <parent link="openarm_right_link2" />
+    <child link="openarm_right_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426" />
+  </joint>
+  <link name="openarm_right_link4">
+    <visual name="openarm_right_link4_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
+      <geometry>
+        <mesh filename="assets/link4.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" />
+      <mass value="0.6348534566833373" />
+      <inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375" />
+    <parent link="openarm_right_link3" />
+    <child link="openarm_right_link4" />
+    <axis xyz="0 1 0" />
+    <limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426" />
+  </joint>
+  <link name="openarm_right_link5">
+    <visual name="openarm_right_link5_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
+      <geometry>
+        <mesh filename="assets/link5.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" />
+      <mass value="0.6156588026168502" />
+      <inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955" />
+    <parent link="openarm_right_link4" />
+    <child link="openarm_right_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+  <link name="openarm_right_link6">
+    <visual name="openarm_right_link6_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link6.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" />
+      <mass value="0.475202773187987" />
+      <inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205" />
+    <parent link="openarm_right_link5" />
+    <child link="openarm_right_link6" />
+    <axis xyz="1 0 0" />
+    <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946" />
+  </joint>
+  <link name="openarm_right_link7">
+    <visual name="openarm_right_link7_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="assets/link7.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 0.01266175250761268 0.06951945409987448" />
+      <mass value="0.4659771327380578" />
+      <inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0" />
+    <parent link="openarm_right_link6" />
+    <child link="openarm_right_link7" />
+    <axis xyz="0 1 0" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+
+  <!-- Right hand -->
+  <link name="openarm_right_hand">
+    <visual name="openarm_right_hand_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585" />
+      <geometry>
+        <mesh filename="assets/hand.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.002 0.03" />
+      <mass value="0.35" />
+      <inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521" />
+    </inertial>
+  </link>
+  <joint name="right_openarm_hand_joint" type="fixed">
+    <parent link="openarm_right_link7" />
+    <child link="openarm_right_hand" />
+    <origin rpy="0 0 0" xyz="0 -0.0 0.1001" />
+  </joint>
+  <link name="openarm_right_hand_tcp">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0 0.08" />
+    <parent link="openarm_right_hand" />
+    <child link="openarm_right_hand_tcp" />
+  </joint>
+  <link name="openarm_right_left_finger">
+    <visual name="openarm_right_left_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <link name="openarm_right_right_finger">
+    <visual name="openarm_right_right_finger_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001" />
+      <geometry>
+        <mesh filename="assets/finger.dae" scale="0.001 -0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685" />
+      <mass value="0.03602545343277134" />
+      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_finger_joint1" type="prismatic">
+    <parent link="openarm_right_hand" />
+    <child link="openarm_right_right_finger" />
+    <origin rpy="0 0 0" xyz="0 -0.006 0.015" />
+    <axis xyz="0 -1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+  </joint>
+  <joint name="openarm_right_finger_joint2" type="prismatic">
+    <parent link="openarm_right_hand" />
+    <child link="openarm_right_left_finger" />
+    <origin rpy="0 0 0" xyz="0 0.006 0.015" />
+    <axis xyz="0 1 0" />
+    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
+    <mimic joint="openarm_right_finger_joint1" />
+  </joint>
+</robot>
+

public/urdf/so101/assets/base_motor_holder_so101_v1.stl

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public/urdf/so101/so100.urdf

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+<?xml version="1.0"?>
+
+<!-- Originally Generated using onshape-to-robot -->
+<!-- Onshape
+https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
+<robot name="so100">
+  <!-- Materials -->
+  <material name="green">
+    <color rgba="0.06 0.4 0.1 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.1 0.1 0.1 1.0" />
+  </material>
+
+  <!-- World link -->
+  <link name="world" />
+
+  <!-- Joint from world to base -->
+  <joint name="world_to_base" type="fixed">
+    <parent link="world" />
+    <child link="base" />
+    <origin xyz="0.163038 0.168068 -0.0300817" rpy="0 0 0" />
+  </joint>
+
+  <!-- Link base -->
+  <link name="base">
+    <inertial>
+      <origin xyz="-0.14932 -0.16812 0.065966" rpy="0 0 0" />
+      <mass value="0.147" />
+      <inertia ixx="0.000114686" ixy="-4.59787e-07" ixz="4.97151e-06" iyy="0.000136117"
+        iyz="9.75275e-08" izz="0.000130364" />
+    </inertial>
+    <!-- Part base_motor_holder_so101_v1 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168167 0.0300817" rpy="1.5708 -1.67685e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part base_so101_v2 -->
+    <visual>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.169402 -0.168068 0.0300817" rpy="1.5708 -1.6144e-15 1.5708" />
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl" />
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1 -->
+    <visual>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="-0.136702 -0.168068 0.0761817" rpy="-8.21148e-16 7.84513e-18 1.249e-15" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part waveshare_mounting_plate_so101_v2 -->
+    <visual>
+      <origin xyz="-0.19402 -0.168267 0.0798817" rpy="1.5708 -1.35493e-14 1.5708" />
+      <geometry>
+        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.19402 -0.168267 0.0798817" rpy="1.5708 -1.35493e-14 1.5708" />
+      <geometry>
+        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <!-- Frame baseframe (dummy link + fixed joint) -->
+  <link name="baseframe">
+    <origin xyz="0 0 0" rpy="0 -0 0" />
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1e-9" />
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+  </link>
+  <joint name="baseframe_frame" type="fixed">
+    <origin xyz="-0.163038 -0.168068 0.0324817" rpy="1.6144e-15 7.84513e-18 1.33799e-15" />
+    <parent link="base" />
+    <child link="baseframe" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <!-- Link shoulder -->
+  <link name="shoulder">
+    <inertial>
+      <origin xyz="-0.0307604 -1.66727e-05 -0.0252713" rpy="0 0 0" />
+      <mass value="0.100006" />
+      <inertia ixx="8.3759e-05" ixy="7.55525e-08" ixz="-1.16342e-06" iyy="8.10403e-05"
+        iyz="1.54663e-07" izz="2.39783e-05" />
+    </inertial>
+    <!-- Part sts3215_03a_v1_2 -->
+    <visual>
+      <origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part motor_holder_so101_base_v1 -->
+    <visual>
+      <origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0" />
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_base_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0" />
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_base_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part rotation_pitch_so101_v1 -->
+    <visual>
+      <origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 2.35221e-33 0" />
+      <geometry>
+        <mesh filename="assets/rotation_pitch_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 2.35221e-33 0" />
+      <geometry>
+        <mesh filename="assets/rotation_pitch_so101_v1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link upper_arm -->
+  <link name="upper_arm">
+    <inertial>
+      <origin xyz="-0.0898471 -0.00838224 0.0184089" rpy="0 0 0" />
+      <mass value="0.103" />
+      <inertia ixx="4.08002e-05" ixy="-1.97819e-05" ixz="-4.03016e-08" iyy="0.000147318"
+        iyz="8.97326e-09" izz="0.000142487" />
+    </inertial>
+    <!-- Part sts3215_03a_v1_3 -->
+    <visual>
+      <origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -5.27356e-16 -1.5708" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -5.27356e-16 -1.5708" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part upper_arm_so101_v1 -->
+    <visual>
+      <origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -0 -1.30911e-30" />
+      <geometry>
+        <mesh filename="assets/upper_arm_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -0 -1.30911e-30" />
+      <geometry>
+        <mesh filename="assets/upper_arm_so101_v1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link lower_arm -->
+  <link name="lower_arm">
+    <inertial>
+      <origin xyz="-0.0980701 0.00324376 0.0182831" rpy="0 0 0" />
+      <mass value="0.104" />
+      <inertia ixx="2.87438e-05" ixy="7.41152e-06" ixz="1.26409e-06" iyy="0.000159844"
+        iyz="-4.90188e-08" izz="0.00014529" />
+    </inertial>
+    <!-- Part under_arm_so101_v1 -->
+    <visual>
+      <origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 -0 6.67202e-31" />
+      <geometry>
+        <mesh filename="assets/under_arm_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 -0 6.67202e-31" />
+      <geometry>
+        <mesh filename="assets/under_arm_so101_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part motor_holder_so101_wrist_v1 -->
+    <visual>
+      <origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 -2.55351e-15 -2.56146e-31" />
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_wrist_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 -2.55351e-15 -2.56146e-31" />
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_wrist_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1_4 -->
+    <visual>
+      <origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -7.88861e-31 -3.14159" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -7.88861e-31 -3.14159" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link wrist -->
+  <link name="wrist">
+    <inertial>
+      <origin xyz="-0.000103312 -0.0386143 0.0281156" rpy="0 0 0" />
+      <mass value="0.079" />
+      <inertia ixx="3.68263e-05" ixy="1.7893e-08" ixz="-5.28128e-08" iyy="2.5391e-05"
+        iyz="3.6412e-06" izz="2.1e-05" />
+    </inertial>
+    <!-- Part sts3215_03a_no_horn_v1 -->
+    <visual>
+      <origin xyz="5.55112e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_no_horn_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="5.55112e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_no_horn_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part wrist_roll_pitch_so101_v2 -->
+    <visual>
+      <origin xyz="0 -0.028 0.0181" rpy="-1.5708 -1.5708 0" />
+      <geometry>
+        <mesh filename="assets/wrist_roll_pitch_so101_v2.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.028 0.0181" rpy="-1.5708 -1.5708 0" />
+      <geometry>
+        <mesh filename="assets/wrist_roll_pitch_so101_v2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper -->
+  <link name="gripper">
+    <inertial>
+      <origin xyz="0.000213627 0.000245138 -0.025187" rpy="0 0 0" />
+      <mass value="0.087" />
+      <inertia ixx="2.75087e-05" ixy="-3.35241e-07" ixz="-5.7352e-06" iyy="4.33657e-05"
+        iyz="-5.17847e-08" izz="3.45059e-05" />
+    </inertial>
+    <!-- Part sts3215_03a_v1_5 -->
+    <visual>
+      <origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.19179e-17 -1.66533e-16" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.19179e-17 -1.66533e-16" />
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl" />
+      </geometry>
+    </collision>
+    <!-- Part wrist_roll_follower_so101_v1 -->
+    <visual>
+      <origin xyz="0 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0" />
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="0 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0" />
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <!-- Frame gripperframe (dummy link + fixed joint) -->
+  <link name="gripperframe">
+    <origin xyz="0 0 0" rpy="0 -0 0" />
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1e-9" />
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+  </link>
+  <joint name="gripperframe_frame" type="fixed">
+    <origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="-0 1.5708 0" />
+    <parent link="gripper" />
+    <child link="gripperframe" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <!-- Link moving_jaw_so101_v1 -->
+  <link name="moving_jaw_so101_v1">
+    <inertial>
+      <origin xyz="-0.00157495 -0.0300244 0.0192755" rpy="0 0 0" />
+      <mass value="0.012" />
+      <inertia ixx="6.61427e-06" ixy="-3.19807e-07" ixz="-5.90717e-09" iyy="1.89032e-06"
+        iyz="-1.09945e-07" izz="5.28738e-06" />
+    </inertial>
+    <!-- Part moving_jaw_so101_v1 -->
+    <visual>
+      <origin xyz="-5.55112e-17 0 0.0189" rpy="9.53145e-17 6.93889e-18 1.24077e-24" />
+      <geometry>
+        <mesh filename="assets/moving_jaw_so101_v1.stl" />
+      </geometry>
+      <material name="green" />
+    </visual>
+    <collision>
+      <origin xyz="-5.55112e-17 0 0.0189" rpy="9.53145e-17 6.93889e-18 1.24077e-24" />
+      <geometry>
+        <mesh filename="assets/moving_jaw_so101_v1.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Joint from base to shoulder -->
+  <joint name="Rotation" type="revolute">
+    <origin xyz="-0.124202 -0.168068 0.0948817" rpy="3.14159 0 0" />
+    <parent link="base" />
+    <child link="shoulder" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.22014" upper="5.05986" />
+  </joint>
+  <!-- Joint from shoulder to upper_arm -->
+  <joint name="Pitch" type="revolute">
+    <origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 1.5692 0" />
+    <parent link="shoulder" />
+    <child link="upper_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39467" upper="4.88692" />
+  </joint>
+  <!-- Joint from upper_arm to lower_arm -->
+  <joint name="Elbow" type="revolute">
+    <origin xyz="-0.11257 -0.028 2.09886e-16" rpy="0 0 4.71239" />
+    <parent link="upper_arm" />
+    <child link="lower_arm" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.39626" upper="4.71239" />
+  </joint>
+  <!-- Joint from lower_arm to wrist -->
+  <joint name="Wrist_Pitch" type="revolute">
+    <origin xyz="-0.1349 0.0052 8.44651e-17" rpy="0 0 1.57079" />
+    <parent link="lower_arm" />
+    <child link="wrist" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="1.48353" upper="4.79965" />
+  </joint>
+  <!-- Joint from wrist to gripper -->
+  <joint name="Wrist_Roll" type="revolute">
+    <origin xyz="2.77556e-16 -0.0611 0.0181" rpy="1.5708 3.1902695 3.14159" />
+    <parent link="wrist" />
+    <child link="gripper" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="0.39774" upper="5.9828" />
+  </joint>
+  <!-- Joint from gripper to moving_jaw_so101_v1 -->
+  <joint name="Jaw" type="revolute">
+    <origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 3.315 0" />
+    <parent link="gripper" />
+    <child link="moving_jaw_so101_v1" />
+    <axis xyz="0 0 1" />
+    <limit effort="10" velocity="10" lower="3.14" upper="4.88692" />
+  </joint>
+</robot>
+

public/urdf/so101/so101_new_calib.urdf

@@ -0,0 +1,453 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generated using onshape-to-robot -->
+<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
+<robot name="so101_new_calib">
+
+  <!-- Materials -->
+  <material name="3d_printed">
+    <color rgba="1.0 0.82 0.12 1.0"/>
+  </material>
+  <material name="sts3215">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+
+  <!-- Link base -->
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.0137179 -5.19711e-05 0.0334843" rpy="0 0 0"/>
+      <mass value="0.147"/>
+      <inertia ixx="0.000114686" ixy="-4.59787e-07" ixz="4.97151e-06" iyy="0.000136117" iyz="9.75275e-08" izz="0.000130364"/>
+    </inertial>
+    <!-- Part base_motor_holder_so101_v1 -->
+    <visual>
+      <origin xyz="-0.00636471 -9.94414e-05 -0.0024" rpy="1.5708 -1.67685e-15 1.5708"/>
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.00636471 -9.94414e-05 -0.0024" rpy="1.5708 -1.67685e-15 1.5708"/>
+      <geometry>
+        <mesh filename="assets/base_motor_holder_so101_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part base_so101_v2 -->
+    <visual>
+      <origin xyz="-0.00636471 -8.97657e-09 -0.0024" rpy="1.5708 -2.78073e-29 1.5708"/>
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.00636471 -8.97657e-09 -0.0024" rpy="1.5708 -2.78073e-29 1.5708"/>
+      <geometry>
+        <mesh filename="assets/base_so101_v2.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1 -->
+    <visual>
+      <origin xyz="0.0263353 -8.97657e-09 0.0437" rpy="-8.21148e-16 7.84513e-18 1.249e-15"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0263353 -8.97657e-09 0.0437" rpy="-8.21148e-16 7.84513e-18 1.249e-15"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part waveshare_mounting_plate_so101_v2 -->
+    <visual>
+      <origin xyz="-0.0309827 -0.000199441 0.0474" rpy="1.5708 -1.35493e-14 1.5708"/>
+      <geometry>
+        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.0309827 -0.000199441 0.0474" rpy="1.5708 -1.35493e-14 1.5708"/>
+      <geometry>
+        <mesh filename="assets/waveshare_mounting_plate_so101_v2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Link shoulder -->
+  <link name="shoulder_link">
+    <inertial>
+      <origin xyz="-0.0307604 -1.66727e-05 -0.0252713" rpy="0 0 0"/>
+      <mass value="0.100006"/>
+      <inertia ixx="8.3759e-05" ixy="7.55525e-08" ixz="-1.16342e-06" iyy="8.10403e-05" iyz="1.54663e-07" izz="2.39783e-05"/>
+    </inertial>
+    <!-- Part sts3215_03a_v1_2 -->
+    <visual>
+      <origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.0303992 0.000422241 -0.0417" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part motor_holder_so101_base_v1 -->
+    <visual>
+      <origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_base_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.0675992 -0.000177759 0.0158499" rpy="1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_base_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part rotation_pitch_so101_v1 -->
+    <visual>
+      <origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 2.35221e-33 0"/>
+      <geometry>
+        <mesh filename="assets/rotation_pitch_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0122008 2.22413e-05 0.0464" rpy="-1.5708 2.35221e-33 0"/>
+      <geometry>
+        <mesh filename="assets/rotation_pitch_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Link upper_arm -->
+  <link name="upper_arm_link">
+    <inertial>
+      <origin xyz="-0.0898471 -0.00838224 0.0184089" rpy="0 0 0"/>
+      <mass value="0.103"/>
+      <inertia ixx="4.08002e-05" ixy="-1.97819e-05" ixz="-4.03016e-08" iyy="0.000147318" iyz="8.97326e-09" izz="0.000142487"/>
+    </inertial>
+    <!-- Part sts3215_03a_v1_3 -->
+    <visual>
+      <origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -5.27356e-16 -1.5708"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.11257 -0.0155 0.0187" rpy="-3.14159 -5.27356e-16 -1.5708"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part upper_arm_so101_v1 -->
+    <visual>
+      <origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -0 -1.30911e-30"/>
+      <geometry>
+        <mesh filename="assets/upper_arm_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.065085 0.012 0.0182" rpy="3.14159 -0 -1.30911e-30"/>
+      <geometry>
+        <mesh filename="assets/upper_arm_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Link lower_arm -->
+  <link name="lower_arm_link">
+    <inertial>
+      <origin xyz="-0.0980701 0.00324376 0.0182831" rpy="0 0 0"/>
+      <mass value="0.104"/>
+      <inertia ixx="2.87438e-05" ixy="7.41152e-06" ixz="1.26409e-06" iyy="0.000159844" iyz="-4.90188e-08" izz="0.00014529"/>
+    </inertial>
+    <!-- Part under_arm_so101_v1 -->
+    <visual>
+      <origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 -0 6.67202e-31"/>
+      <geometry>
+        <mesh filename="assets/under_arm_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.0648499 -0.032 0.0182" rpy="3.14159 -0 6.67202e-31"/>
+      <geometry>
+        <mesh filename="assets/under_arm_so101_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part motor_holder_so101_wrist_v1 -->
+    <visual>
+      <origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 -2.55351e-15 -1.83387e-30"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_wrist_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.0648499 -0.032 0.018" rpy="-3.14159 -2.55351e-15 -1.83387e-30"/>
+      <geometry>
+        <mesh filename="assets/motor_holder_so101_wrist_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part sts3215_03a_v1_4 -->
+    <visual>
+      <origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -7.88861e-31 -3.14159"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="-0.1224 0.0052 0.0187" rpy="-3.14159 -7.88861e-31 -3.14159"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Link wrist -->
+  <link name="wrist_link">
+    <inertial>
+      <origin xyz="-0.000103312 -0.0386143 0.0281156" rpy="0 0 0"/>
+      <mass value="0.079"/>
+      <inertia ixx="3.68263e-05" ixy="1.7893e-08" ixz="-5.28128e-08" iyy="2.5391e-05" iyz="3.6412e-06" izz="2.1e-05"/>
+    </inertial>
+    <!-- Part sts3215_03a_no_horn_v1 -->
+    <visual>
+      <origin xyz="8.32667e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_no_horn_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="8.32667e-17 -0.0424 0.0306" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_no_horn_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part wrist_roll_pitch_so101_v2 -->
+    <visual>
+      <origin xyz="0 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_pitch_so101_v2.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.028 0.0181" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_pitch_so101_v2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Link gripper -->
+  <link name="gripper_link">
+    <inertial>
+      <origin xyz="0.000213627 0.000245138 -0.025187" rpy="0 0 0"/>
+      <mass value="0.087"/>
+      <inertia ixx="2.75087e-05" ixy="-3.35241e-07" ixz="-5.7352e-06" iyy="4.33657e-05" iyz="-5.17847e-08" izz="3.45059e-05"/>
+    </inertial>
+    <!-- Part sts3215_03a_v1_5 -->
+    <visual>
+      <origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.19179e-17 -1.66533e-16"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+      <material name="sts3215"/>
+    </visual>
+    <collision>
+      <origin xyz="0.0077 0.0001 -0.0234" rpy="-1.5708 -5.19179e-17 -1.66533e-16"/>
+      <geometry>
+        <mesh filename="assets/sts3215_03a_v1.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part wrist_roll_follower_so101_v1 -->
+    <visual>
+      <origin xyz="8.32667e-17 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="8.32667e-17 -0.000218214 0.000949706" rpy="-3.14159 -5.55112e-17 0"/>
+      <geometry>
+        <mesh filename="assets/wrist_roll_follower_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Gripper frame (dummy link + fixed joint) -->
+  <link name="gripper_frame_link">
+    <origin xyz="0 0 0" rpy="0 -0 0"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1e-9"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+
+  <joint name="gripper_frame_joint" type="fixed">
+    <origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="0 3.14159 0"/>
+    <parent link="gripper_link"/>
+    <child link="gripper_frame_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <!-- Link moving_jaw_so101_v1 -->
+  <link name="moving_jaw_so101_v1_link">
+    <inertial>
+      <origin xyz="-0.00157495 -0.0300244 0.0192755" rpy="0 0 0"/>
+      <mass value="0.012"/>
+      <inertia ixx="6.61427e-06" ixy="-3.19807e-07" ixz="-5.90717e-09" iyy="1.89032e-06" iyz="-1.09945e-07" izz="5.28738e-06"/>
+    </inertial>
+    <!-- Part moving_jaw_so101_v1 -->
+    <visual>
+      <origin xyz="-5.55112e-17 -5.55112e-17 0.0189" rpy="9.53145e-17 6.93889e-18 1.24077e-24"/>
+      <geometry>
+        <mesh filename="assets/moving_jaw_so101_v1.stl"/>
+      </geometry>
+      <material name="3d_printed"/>
+    </visual>
+    <collision>
+      <origin xyz="-5.55112e-17 -5.55112e-17 0.0189" rpy="9.53145e-17 6.93889e-18 1.24077e-24"/>
+      <geometry>
+        <mesh filename="assets/moving_jaw_so101_v1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Joint from gripper to moving_jaw_so101_v1 -->
+  <joint name="gripper" type="revolute">
+    <origin xyz="0.0202 0.0188 -0.0234" rpy="1.5708 -5.24284e-08 -1.41553e-15"/>
+    <parent link="gripper_link"/>
+    <child link="moving_jaw_so101_v1_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.174533" upper="1.74533"/>
+  </joint>
+
+  <transmission name="gripper_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="gripper">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from wrist to gripper -->
+  <joint name="wrist_roll" type="revolute">
+    <origin xyz="5.55112e-17 -0.0611 0.0181" rpy="1.5708 0.0486795 3.14159"/>
+    <parent link="wrist_link"/>
+    <child link="gripper_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.74385" upper="2.84121"/>
+  </joint>
+
+  <transmission name="wrist_roll_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_roll">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from lower_arm to wrist -->
+  <joint name="wrist_flex" type="revolute">
+    <origin xyz="-0.1349 0.0052 3.62355e-17" rpy="4.02456e-15 8.67362e-16 -1.5708"/>
+    <parent link="lower_arm_link"/>
+    <child link="wrist_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.65806" upper="1.65806"/>
+  </joint>
+
+  <transmission name="wrist_flex_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_flex">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor4">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from upper_arm to lower_arm -->
+  <!-- Note: 5-degree calibration offset applied to joint limits -->
+  <joint name="elbow_flex" type="revolute">
+    <origin xyz="-0.11257 -0.028 1.73763e-16" rpy="-3.63608e-16 8.74301e-16 1.5708"/>
+    <parent link="upper_arm_link"/>
+    <child link="lower_arm_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.69" upper="1.69"/>
+  </joint>
+
+  <transmission name="elbow_flex_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="elbow_flex">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from shoulder to upper_arm -->
+  <joint name="shoulder_lift" type="revolute">
+    <origin xyz="-0.0303992 -0.0182778 -0.0542" rpy="-1.5708 -1.5708 0"/>
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.74533" upper="1.74533"/>
+  </joint>
+
+  <transmission name="shoulder_lift_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_lift">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <!-- Joint from base to shoulder -->
+  <joint name="shoulder_pan" type="revolute">
+    <origin xyz="0.0388353 -8.97657e-09 0.0624" rpy="3.14159 4.18253e-17 -3.14159"/>
+    <parent link="base_link"/>
+    <child link="shoulder_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.91986" upper="1.91986"/>
+  </joint>
+
+  <transmission name="shoulder_pan_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_pan">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> 
+
+</robot>

src/app/.well-known/appspecific/[...slug]/route.ts

@@ -0,0 +1,5 @@
+import { NextResponse } from "next/server";
+
+export function GET() {
+  return new NextResponse(null, { status: 404 });
+}

src/app/[org]/[dataset]/[episode]/actions.ts

@@ -0,0 +1,65 @@
+"use server";
+
+import { getDatasetVersionAndInfo } from "@/utils/versionUtils";
+import type { DatasetMetadata } from "@/utils/parquetUtils";
+import {
+  loadAllEpisodeLengthsV3,
+  loadAllEpisodeFrameInfo,
+  loadCrossEpisodeActionVariance,
+  loadEpisodeFlatChartData,
+  type EpisodeLengthStats,
+  type EpisodeFramesData,
+  type CrossEpisodeVarianceData,
+} from "./fetch-data";
+
+export async function fetchEpisodeLengthStats(
+  org: string,
+  dataset: string,
+): Promise<EpisodeLengthStats | null> {
+  const repoId = `${org}/${dataset}`;
+  const { version, info } = await getDatasetVersionAndInfo(repoId);
+  if (version !== "v3.0") return null;
+  return loadAllEpisodeLengthsV3(repoId, version, info.fps);
+}
+
+export async function fetchEpisodeFrames(
+  org: string,
+  dataset: string,
+): Promise<EpisodeFramesData> {
+  const repoId = `${org}/${dataset}`;
+  const { version, info } = await getDatasetVersionAndInfo(repoId);
+  return loadAllEpisodeFrameInfo(
+    repoId,
+    version,
+    info as unknown as DatasetMetadata,
+  );
+}
+
+export async function fetchCrossEpisodeVariance(
+  org: string,
+  dataset: string,
+): Promise<CrossEpisodeVarianceData | null> {
+  const repoId = `${org}/${dataset}`;
+  const { version, info } = await getDatasetVersionAndInfo(repoId);
+  return loadCrossEpisodeActionVariance(
+    repoId,
+    version,
+    info as unknown as DatasetMetadata,
+    info.fps,
+  );
+}
+
+export async function fetchEpisodeChartData(
+  org: string,
+  dataset: string,
+  episodeId: number,
+): Promise<Record<string, number>[]> {
+  const repoId = `${org}/${dataset}`;
+  const { version, info } = await getDatasetVersionAndInfo(repoId);
+  return loadEpisodeFlatChartData(
+    repoId,
+    version,
+    info as unknown as DatasetMetadata,
+    episodeId,
+  );
+}

src/app/[org]/[dataset]/[episode]/episode-viewer.tsx

@@ -1,16 +1,46 @@
 "use client";
 
-import { useState, useEffect, useRef } from "react";
+import { useState, useEffect, useRef, lazy, Suspense } from "react";
 import { useRouter, useSearchParams } from "next/navigation";
 import { postParentMessageWithParams } from "@/utils/postParentMessage";
 import { SimpleVideosPlayer } from "@/components/simple-videos-player";
 import DataRecharts from "@/components/data-recharts";
 import PlaybackBar from "@/components/playback-bar";
 import { TimeProvider, useTime } from "@/context/time-context";
+import { FlaggedEpisodesProvider } from "@/context/flagged-episodes-context";
 import Sidebar from "@/components/side-nav";
+import StatsPanel from "@/components/stats-panel";
+import OverviewPanel from "@/components/overview-panel";
 import Loading from "@/components/loading-component";
-import { getAdjacentEpisodesVideoInfo } from "./fetch-data";
-import type { EpisodeData } from "@/types";
+import { hasURDFSupport } from "@/lib/so101-robot";
+import {
+  getAdjacentEpisodesVideoInfo,
+  computeColumnMinMax,
+  type EpisodeData,
+  type ColumnMinMax,
+  type EpisodeLengthStats,
+  type EpisodeFramesData,
+  type CrossEpisodeVarianceData,
+} from "./fetch-data";
+import {
+  fetchEpisodeLengthStats,
+  fetchEpisodeFrames,
+  fetchCrossEpisodeVariance,
+} from "./actions";
+
+const URDFViewer = lazy(() => import("@/components/urdf-viewer"));
+const ActionInsightsPanel = lazy(
+  () => import("@/components/action-insights-panel"),
+);
+const FilteringPanel = lazy(() => import("@/components/filtering-panel"));
+
+type ActiveTab =
+  | "episodes"
+  | "statistics"
+  | "frames"
+  | "insights"
+  | "filtering"
+  | "urdf";
 
 export default function EpisodeViewer({
   data,
@@ -39,8 +69,10 @@ export default function EpisodeViewer({
   }
 
   return (
-    <TimeProvider duration={data.duration}>
-      <EpisodeViewerInner data={data} org={org} dataset={dataset} />
+    <TimeProvider duration={data!.duration}>
+      <FlaggedEpisodesProvider>
+        <EpisodeViewerInner data={data!} org={org} dataset={dataset} />
+      </FlaggedEpisodesProvider>
     </TimeProvider>
   );
 }
@@ -67,10 +99,127 @@ function EpisodeViewerInner({
   const [chartsReady, setChartsReady] = useState(false);
   const isLoading = !videosReady || !chartsReady;
 
+  const loadStartRef = useRef(performance.now());
+  useEffect(() => {
+    if (!isLoading) {
+      console.log(
+        `[perf] Loading complete in ${(performance.now() - loadStartRef.current).toFixed(0)}ms (videos: ${videosReady ? "✓" : "…"}, charts: ${chartsReady ? "✓" : "…"})`,
+      );
+    }
+  }, [isLoading]);
+
   const router = useRouter();
   const searchParams = useSearchParams();
 
-  // State
+  // Tab state & lazy stats
+  const [activeTab, setActiveTab] = useState<ActiveTab>("episodes");
+  const [, setColumnMinMax] = useState<ColumnMinMax[] | null>(null);
+  const [episodeLengthStats, setEpisodeLengthStats] =
+    useState<EpisodeLengthStats | null>(null);
+  const [statsLoading, setStatsLoading] = useState(false);
+  const statsLoadedRef = useRef(false);
+  const [episodeFramesData, setEpisodeFramesData] =
+    useState<EpisodeFramesData | null>(null);
+  const [framesLoading, setFramesLoading] = useState(false);
+  const framesLoadedRef = useRef(false);
+  const [framesFlaggedOnly, setFramesFlaggedOnly] = useState(false);
+  const [sidebarFlaggedOnly, setSidebarFlaggedOnly] = useState(false);
+  const [crossEpData, setCrossEpData] =
+    useState<CrossEpisodeVarianceData | null>(null);
+  const [insightsLoading, setInsightsLoading] = useState(false);
+  const insightsLoadedRef = useRef(false);
+
+  // Hydrate UI state from sessionStorage after mount (avoids SSR/client mismatch)
+  useEffect(() => {
+    const stored = sessionStorage.getItem("activeTab");
+    if (
+      stored &&
+      [
+        "episodes",
+        "statistics",
+        "frames",
+        "insights",
+        "filtering",
+        "urdf",
+      ].includes(stored)
+    ) {
+      setActiveTab(stored as ActiveTab);
+    }
+    if (sessionStorage.getItem("framesFlaggedOnly") === "true")
+      setFramesFlaggedOnly(true);
+    if (sessionStorage.getItem("sidebarFlaggedOnly") === "true")
+      setSidebarFlaggedOnly(true);
+  }, []);
+
+  // Persist UI state across episode navigations
+  useEffect(() => {
+    sessionStorage.setItem("activeTab", activeTab);
+  }, [activeTab]);
+  useEffect(() => {
+    sessionStorage.setItem("sidebarFlaggedOnly", String(sidebarFlaggedOnly));
+  }, [sidebarFlaggedOnly]);
+  useEffect(() => {
+    sessionStorage.setItem("framesFlaggedOnly", String(framesFlaggedOnly));
+  }, [framesFlaggedOnly]);
+
+  const loadStats = () => {
+    if (statsLoadedRef.current) return;
+    statsLoadedRef.current = true;
+    setStatsLoading(true);
+    setColumnMinMax(computeColumnMinMax(data.chartDataGroups));
+    if (org && dataset) {
+      fetchEpisodeLengthStats(org, dataset)
+        .then((result) => setEpisodeLengthStats(result))
+        .catch(() => {})
+        .finally(() => setStatsLoading(false));
+    } else {
+      setStatsLoading(false);
+    }
+  };
+
+  const loadFrames = () => {
+    if (framesLoadedRef.current || !org || !dataset) return;
+    framesLoadedRef.current = true;
+    setFramesLoading(true);
+    fetchEpisodeFrames(org, dataset)
+      .then(setEpisodeFramesData)
+      .catch(() => setEpisodeFramesData({ cameras: [], framesByCamera: {} }))
+      .finally(() => setFramesLoading(false));
+  };
+
+  const loadInsights = () => {
+    if (insightsLoadedRef.current || !org || !dataset) return;
+    insightsLoadedRef.current = true;
+    setInsightsLoading(true);
+    fetchCrossEpisodeVariance(org, dataset)
+      .then(setCrossEpData)
+      .catch((err) => console.error("[cross-ep] Failed:", err))
+      .finally(() => setInsightsLoading(false));
+  };
+
+  // Re-trigger data loading for the restored tab on mount
+  useEffect(() => {
+    if (activeTab === "statistics") loadStats();
+    if (activeTab === "frames") loadFrames();
+    if (activeTab === "insights") loadInsights();
+    if (activeTab === "filtering") {
+      loadStats();
+      loadInsights();
+    }
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, []);
+
+  const handleTabChange = (tab: ActiveTab) => {
+    setActiveTab(tab);
+    if (tab === "statistics") loadStats();
+    if (tab === "frames") loadFrames();
+    if (tab === "insights") loadInsights();
+    if (tab === "filtering") {
+      loadStats();
+      loadInsights();
+    }
+  };
+
   // Use context for time sync
   const { currentTime, setCurrentTime, setIsPlaying, isPlaying } = useTime();
 
@@ -83,20 +232,29 @@ function EpisodeViewerInner({
     currentPage * pageSize,
   );
 
-  // Preload adjacent episodes' videos
+  // Preload adjacent episodes' videos via <link rel="preload"> tags
   useEffect(() => {
     if (!org || !dataset) return;
+    const links: HTMLLinkElement[] = [];
 
-    const preloadAdjacent = async () => {
-      try {
-        await getAdjacentEpisodesVideoInfo(org, dataset, episodeId, 2);
-        // Preload adjacent episodes for smoother navigation
-      } catch {
-        // Skip preloading on error
-      }
-    };
+    getAdjacentEpisodesVideoInfo(org, dataset, episodeId, 2)
+      .then((adjacentVideos) => {
+        for (const ep of adjacentVideos) {
+          for (const v of ep.videosInfo) {
+            const link = document.createElement("link");
+            link.rel = "preload";
+            link.as = "video";
+            link.href = v.url;
+            document.head.appendChild(link);
+            links.push(link);
+          }
+        }
+      })
+      .catch(() => {});
 
-    preloadAdjacent();
+    return () => {
+      links.forEach((l) => l.remove());
+    };
   }, [org, dataset, episodeId]);
 
   // Initialize based on URL time parameter
@@ -189,86 +347,236 @@ function EpisodeViewerInner({
   };
 
   return (
-    <div className="flex h-screen max-h-screen bg-slate-950 text-gray-200">
-      {/* Sidebar */}
-      <Sidebar
-        datasetInfo={datasetInfo}
-        paginatedEpisodes={paginatedEpisodes}
-        episodeId={episodeId}
-        totalPages={totalPages}
-        currentPage={currentPage}
-        prevPage={prevPage}
-        nextPage={nextPage}
-      />
-
-      {/* Content */}
-      <div
-        className={`flex max-h-screen flex-col gap-4 p-4 md:flex-1 relative ${isLoading ? "overflow-hidden" : "overflow-y-auto"}`}
-      >
-        {isLoading && <Loading />}
-
-        <div className="flex items-center justify-start my-4">
-          <a
-            href="https://github.com/huggingface/lerobot"
-            target="_blank"
-            className="block"
-          >
-            <img
-              src="https://github.com/huggingface/lerobot/raw/main/media/readme/lerobot-logo-thumbnail.png"
-              alt="LeRobot Logo"
-              className="w-32"
-            />
-          </a>
-
-          <div>
-            <a
-              href={`https://huggingface.co/datasets/${datasetInfo.repoId}`}
-              target="_blank"
+    <div className="flex flex-col h-screen max-h-screen bg-slate-950 text-gray-200">
+      {/* Top tab bar */}
+      <div className="flex items-center border-b border-slate-700 bg-slate-900 shrink-0">
+        <button
+          className={`px-6 py-2.5 text-sm font-medium transition-colors relative ${
+            activeTab === "episodes"
+              ? "text-orange-400"
+              : "text-slate-400 hover:text-slate-200"
+          }`}
+          onClick={() => handleTabChange("episodes")}
+        >
+          Episodes
+          {activeTab === "episodes" && (
+            <span className="absolute bottom-0 left-0 right-0 h-0.5 bg-orange-500" />
+          )}
+        </button>
+        <button
+          className={`px-6 py-2.5 text-sm font-medium transition-colors relative ${
+            activeTab === "statistics"
+              ? "text-orange-400"
+              : "text-slate-400 hover:text-slate-200"
+          }`}
+          onClick={() => handleTabChange("statistics")}
+        >
+          Statistics
+          {activeTab === "statistics" && (
+            <span className="absolute bottom-0 left-0 right-0 h-0.5 bg-orange-500" />
+          )}
+        </button>
+        <button
+          className={`px-6 py-2.5 text-sm font-medium transition-colors relative ${
+            activeTab === "filtering"
+              ? "text-orange-400"
+              : "text-slate-400 hover:text-slate-200"
+          }`}
+          onClick={() => handleTabChange("filtering")}
+        >
+          Filtering
+          {activeTab === "filtering" && (
+            <span className="absolute bottom-0 left-0 right-0 h-0.5 bg-orange-500" />
+          )}
+        </button>
+        <button
+          className={`px-6 py-2.5 text-sm font-medium transition-colors relative ${
+            activeTab === "frames"
+              ? "text-orange-400"
+              : "text-slate-400 hover:text-slate-200"
+          }`}
+          onClick={() => handleTabChange("frames")}
+        >
+          Frames
+          {activeTab === "frames" && (
+            <span className="absolute bottom-0 left-0 right-0 h-0.5 bg-orange-500" />
+          )}
+        </button>
+        <button
+          className={`px-6 py-2.5 text-sm font-medium transition-colors relative ${
+            activeTab === "insights"
+              ? "text-orange-400"
+              : "text-slate-400 hover:text-slate-200"
+          }`}
+          onClick={() => handleTabChange("insights")}
+        >
+          Action Insights
+          {activeTab === "insights" && (
+            <span className="absolute bottom-0 left-0 right-0 h-0.5 bg-orange-500" />
+          )}
+        </button>
+        {hasURDFSupport(datasetInfo.robot_type) &&
+          datasetInfo.codebase_version >= "v3.0" && (
+            <button
+              className={`px-6 py-2.5 text-sm font-medium transition-colors relative ${
+                activeTab === "urdf"
+                  ? "text-orange-400"
+                  : "text-slate-400 hover:text-slate-200"
+              }`}
+              onClick={() => handleTabChange("urdf")}
             >
-              <p className="text-lg font-semibold">{datasetInfo.repoId}</p>
-            </a>
-
-            <p className="font-mono text-lg font-semibold">
-              episode {episodeId}
-            </p>
-          </div>
-        </div>
+              3D Replay
+              {activeTab === "urdf" && (
+                <span className="absolute bottom-0 left-0 right-0 h-0.5 bg-orange-500" />
+              )}
+            </button>
+          )}
+      </div>
 
-        {/* Videos */}
-        {videosInfo.length && (
-          <SimpleVideosPlayer
-            videosInfo={videosInfo}
-            onVideosReady={() => setVideosReady(true)}
+      {/* Body: sidebar + content */}
+      <div className="flex flex-1 min-h-0">
+        {/* Sidebar — only on Episodes tab */}
+        {activeTab === "episodes" && (
+          <Sidebar
+            datasetInfo={datasetInfo}
+            paginatedEpisodes={paginatedEpisodes}
+            episodeId={episodeId}
+            totalPages={totalPages}
+            currentPage={currentPage}
+            prevPage={prevPage}
+            nextPage={nextPage}
+            showFlaggedOnly={sidebarFlaggedOnly}
+            onShowFlaggedOnlyChange={setSidebarFlaggedOnly}
           />
         )}
 
-        {/* Language Instruction */}
-        {task && (
-          <div className="mb-6 p-4 bg-slate-800 rounded-lg border border-slate-600">
-            <p className="text-slate-300">
-              <span className="font-semibold text-slate-100">
-                Language Instruction:
-              </span>
-            </p>
-            <div className="mt-2 text-slate-300">
-              {task.split("\n").map((instruction, index) => (
-                <p key={index} className="mb-1">
-                  {instruction}
-                </p>
-              ))}
-            </div>
-          </div>
-        )}
+        {/* Main content */}
+        <div
+          className={`flex flex-col gap-4 p-4 flex-1 relative ${isLoading ? "overflow-hidden" : "overflow-y-auto"}`}
+        >
+          {isLoading && <Loading />}
 
-        {/* Graph */}
-        <div className="mb-4">
-          <DataRecharts
-            data={chartDataGroups}
-            onChartsReady={() => setChartsReady(true)}
-          />
-        </div>
+          {activeTab === "episodes" && (
+            <>
+              <div className="flex items-center justify-start my-4">
+                <a
+                  href="https://github.com/huggingface/lerobot"
+                  target="_blank"
+                  className="block"
+                >
+                  <img
+                    src="https://github.com/huggingface/lerobot/raw/main/media/readme/lerobot-logo-thumbnail.png"
+                    alt="LeRobot Logo"
+                    className="w-32"
+                  />
+                </a>
 
-        <PlaybackBar />
+                <div>
+                  <a
+                    href={`https://huggingface.co/datasets/${datasetInfo.repoId}`}
+                    target="_blank"
+                  >
+                    <p className="text-lg font-semibold">
+                      {datasetInfo.repoId}
+                    </p>
+                  </a>
+
+                  <p className="font-mono text-lg font-semibold">
+                    episode {episodeId}
+                  </p>
+                </div>
+              </div>
+
+              {/* Videos */}
+              {videosInfo.length > 0 && (
+                <SimpleVideosPlayer
+                  videosInfo={videosInfo}
+                  onVideosReady={() => setVideosReady(true)}
+                />
+              )}
+
+              {/* Language Instruction */}
+              {task && (
+                <div className="mb-6 p-4 bg-slate-800 rounded-lg border border-slate-600">
+                  <p className="text-slate-300">
+                    <span className="font-semibold text-slate-100">
+                      Language Instruction:
+                    </span>
+                  </p>
+                  <div className="mt-2 text-slate-300">
+                    {task
+                      .split("\n")
+                      .map((instruction: string, index: number) => (
+                        <p key={index} className="mb-1">
+                          {instruction}
+                        </p>
+                      ))}
+                  </div>
+                </div>
+              )}
+
+              {/* Graph */}
+              <div className="mb-4">
+                <DataRecharts
+                  data={chartDataGroups}
+                  onChartsReady={() => setChartsReady(true)}
+                />
+              </div>
+
+              <PlaybackBar />
+            </>
+          )}
+
+          {activeTab === "statistics" && (
+            <StatsPanel
+              datasetInfo={datasetInfo}
+              episodeLengthStats={episodeLengthStats}
+              loading={statsLoading}
+            />
+          )}
+
+          {activeTab === "frames" && (
+            <OverviewPanel
+              data={episodeFramesData}
+              loading={framesLoading}
+              flaggedOnly={framesFlaggedOnly}
+              onFlaggedOnlyChange={setFramesFlaggedOnly}
+            />
+          )}
+
+          {activeTab === "insights" && (
+            <Suspense fallback={<Loading />}>
+              <ActionInsightsPanel
+                flatChartData={data.flatChartData}
+                fps={datasetInfo.fps}
+                crossEpisodeData={crossEpData}
+                crossEpisodeLoading={insightsLoading}
+              />
+            </Suspense>
+          )}
+
+          {activeTab === "filtering" && (
+            <Suspense fallback={<Loading />}>
+              <FilteringPanel
+                repoId={datasetInfo.repoId}
+                crossEpisodeData={crossEpData}
+                crossEpisodeLoading={insightsLoading}
+                episodeLengthStats={episodeLengthStats}
+                flatChartData={data.flatChartData}
+                onViewFlaggedEpisodes={() => {
+                  setSidebarFlaggedOnly(true);
+                  handleTabChange("episodes");
+                }}
+              />
+            </Suspense>
+          )}
+
+          {activeTab === "urdf" && (
+            <Suspense fallback={<Loading />}>
+              <URDFViewer data={data} org={org} dataset={dataset} />
+            </Suspense>
+          )}
+        </div>
       </div>
     </div>
   );

src/app/[org]/[dataset]/[episode]/fetch-data.ts

@@ -1,32 +1,109 @@
 import {
-  fetchJson,
+  DatasetMetadata,
   fetchParquetFile,
   formatStringWithVars,
-  readParquetColumn,
   readParquetAsObjects,
 } from "@/utils/parquetUtils";
 import { pick } from "@/utils/pick";
-import { getDatasetVersion, buildVersionedUrl } from "@/utils/versionUtils";
+import {
+  getDatasetVersionAndInfo,
+  buildVersionedUrl,
+} from "@/utils/versionUtils";
 import { PADDING, CHART_CONFIG, EXCLUDED_COLUMNS } from "@/utils/constants";
 import {
   processChartDataGroups,
   groupRowBySuffix,
 } from "@/utils/dataProcessing";
-import { extractLanguageInstructions } from "@/utils/languageInstructions";
 import {
   buildV3VideoPath,
   buildV3DataPath,
   buildV3EpisodesMetadataPath,
 } from "@/utils/stringFormatting";
 import { bigIntToNumber } from "@/utils/typeGuards";
-import type {
-  DatasetMetadata,
-  EpisodeData,
-  EpisodeMetadataV3,
-  VideoInfo,
-  AdjacentEpisodeVideos,
-  ChartDataGroup,
-} from "@/types";
+import type { VideoInfo, AdjacentEpisodeVideos } from "@/types";
+
+const SERIES_NAME_DELIMITER = CHART_CONFIG.SERIES_NAME_DELIMITER;
+
+export type CameraInfo = { name: string; width: number; height: number };
+
+export type DatasetDisplayInfo = {
+  repoId: string;
+  total_frames: number;
+  total_episodes: number;
+  fps: number;
+  robot_type: string | null;
+  codebase_version: string;
+  total_tasks: number;
+  dataset_size_mb: number;
+  cameras: CameraInfo[];
+};
+
+export type ChartRow = Record<string, number | Record<string, number>>;
+
+export type ColumnMinMax = {
+  column: string;
+  min: number;
+  max: number;
+};
+
+export type EpisodeLengthInfo = {
+  episodeIndex: number;
+  lengthSeconds: number;
+  frames: number;
+};
+
+export type EpisodeLengthStats = {
+  shortestEpisodes: EpisodeLengthInfo[];
+  longestEpisodes: EpisodeLengthInfo[];
+  allEpisodeLengths: EpisodeLengthInfo[];
+  meanEpisodeLength: number;
+  medianEpisodeLength: number;
+  stdEpisodeLength: number;
+  episodeLengthHistogram: { binLabel: string; count: number }[];
+};
+
+export type EpisodeFrameInfo = {
+  episodeIndex: number;
+  videoUrl: string;
+  firstFrameTime: number;
+  lastFrameTime: number | null; // null = seek to video.duration on client
+};
+
+export type EpisodeFramesData = {
+  cameras: string[];
+  framesByCamera: Record<string, EpisodeFrameInfo[]>;
+};
+
+export type EpisodeData = {
+  datasetInfo: DatasetDisplayInfo;
+  episodeId: number;
+  videosInfo: VideoInfo[];
+  chartDataGroups: ChartRow[][];
+  flatChartData: Record<string, number>[];
+  episodes: number[];
+  ignoredColumns: string[];
+  duration: number;
+  task?: string;
+};
+
+type EpisodeMetadataV3 = {
+  episode_index: number;
+  data_chunk_index: number;
+  data_file_index: number;
+  dataset_from_index: number;
+  dataset_to_index: number;
+  video_chunk_index: number;
+  video_file_index: number;
+  video_from_timestamp: number;
+  video_to_timestamp: number;
+  length: number;
+  [key: string]: string | number;
+};
+
+type ColumnDef = {
+  key: string;
+  value: string[];
+};
 
 export async function getEpisodeData(
   org: string,
@@ -35,10 +112,10 @@ export async function getEpisodeData(
 ): Promise<EpisodeData> {
   const repoId = `${org}/${dataset}`;
   try {
-    // Check for compatible dataset version (v3.0, v2.1, or v2.0)
-    const version = await getDatasetVersion(repoId);
-    const jsonUrl = buildVersionedUrl(repoId, version, "meta/info.json");
-    const info = await fetchJson<DatasetMetadata>(jsonUrl);
+    console.time(`[perf] getDatasetVersionAndInfo`);
+    const { version, info: rawInfo } = await getDatasetVersionAndInfo(repoId);
+    console.timeEnd(`[perf] getDatasetVersionAndInfo`);
+    const info = rawInfo as unknown as DatasetMetadata;
 
     if (info.video_path === null) {
       throw new Error(
@@ -46,19 +123,39 @@ export async function getEpisodeData(
       );
     }
 
-    // Handle different versions
-    if (version === "v3.0") {
-      return await getEpisodeDataV3(repoId, version, info, episodeId);
-    } else {
-      return await getEpisodeDataV2(repoId, version, info, episodeId);
-    }
+    console.time(`[perf] getEpisodeData (${version})`);
+    const result =
+      version === "v3.0"
+        ? await getEpisodeDataV3(repoId, version, info, episodeId)
+        : await getEpisodeDataV2(repoId, version, info, episodeId);
+    console.timeEnd(`[perf] getEpisodeData (${version})`);
+
+    // Extract camera resolutions from features
+    const cameras: CameraInfo[] = Object.entries(rawInfo.features)
+      .filter(([, f]) => f.dtype === "video" && f.shape.length >= 2)
+      .map(([name, f]) => ({ name, height: f.shape[0], width: f.shape[1] }));
+
+    result.datasetInfo = {
+      ...result.datasetInfo,
+      robot_type: rawInfo.robot_type ?? null,
+      codebase_version: rawInfo.codebase_version,
+      total_tasks: rawInfo.total_tasks ?? 0,
+      dataset_size_mb:
+        Math.round(
+          ((rawInfo.data_files_size_in_mb ?? 0) +
+            (rawInfo.video_files_size_in_mb ?? 0)) *
+            10,
+        ) / 10,
+      cameras,
+    };
+
+    return result;
   } catch (err) {
     console.error("Error loading episode data:", err);
     throw err;
   }
 }
 
-// Get video info for adjacent episodes (for preloading)
 export async function getAdjacentEpisodesVideoInfo(
   org: string,
   dataset: string,
@@ -67,9 +164,8 @@ export async function getAdjacentEpisodesVideoInfo(
 ): Promise<AdjacentEpisodeVideos[]> {
   const repoId = `${org}/${dataset}`;
   try {
-    const version = await getDatasetVersion(repoId);
-    const jsonUrl = buildVersionedUrl(repoId, version, "meta/info.json");
-    const info = await fetchJson<DatasetMetadata>(jsonUrl);
+    const { version, info: rawInfo } = await getDatasetVersionAndInfo(repoId);
+    const info = rawInfo as unknown as DatasetMetadata;
 
     const totalEpisodes = info.total_episodes;
     const adjacentVideos: AdjacentEpisodeVideos[] = [];
@@ -142,12 +238,16 @@ async function getEpisodeDataV2(
 ): Promise<EpisodeData> {
   const episode_chunk = Math.floor(0 / 1000);
 
-  // Dataset information
-  const datasetInfo = {
+  const datasetInfo: DatasetDisplayInfo = {
     repoId,
     total_frames: info.total_frames,
     total_episodes: info.total_episodes,
     fps: info.fps,
+    robot_type: null,
+    codebase_version: version,
+    total_tasks: 0,
+    dataset_size_mb: 0,
+    cameras: [],
   };
 
   // Generate list of episodes
@@ -197,22 +297,17 @@ async function getEpisodeDataV2(
   const filteredColumns = columnNames.filter(
     (column) => !excludedColumns.includes(column.key),
   );
-  const filteredColumnNames = [
-    "timestamp",
-    ...filteredColumns.map((column) => column.key),
-  ];
-
-  const columns = filteredColumns.map(({ key }) => {
-    let column_names = info.features[key].names;
-    while (typeof column_names === "object") {
+  const columns: ColumnDef[] = filteredColumns.map(({ key }) => {
+    let column_names: unknown = info.features[key].names;
+    while (typeof column_names === "object" && column_names !== null) {
       if (Array.isArray(column_names)) break;
-      column_names = Object.values(column_names ?? {})[0];
+      column_names = Object.values(column_names)[0];
     }
     return {
       key,
       value: Array.isArray(column_names)
         ? column_names.map(
-            (name) => `${key}${CHART_CONFIG.SERIES_NAME_DELIMITER}${name}`,
+            (name: string) => `${key}${SERIES_NAME_DELIMITER}${name}`,
           )
         : Array.from(
             { length: columnNames.find((c) => c.key === key)?.length ?? 1 },
@@ -233,32 +328,38 @@ async function getEpisodeDataV2(
   );
 
   const arrayBuffer = await fetchParquetFile(parquetUrl);
+  const allData = await readParquetAsObjects(arrayBuffer, []);
 
-  // Extract task - first check for language instructions (preferred), then fallback to task field or tasks.jsonl
+  // Extract task from language_instruction fields, task field, or tasks.jsonl
   let task: string | undefined;
-  let allData: Record<string, unknown>[] = [];
 
-  // Load data first
-  try {
-    allData = await readParquetAsObjects(arrayBuffer, []);
-  } catch {
-    // Could not read parquet data
-  }
+  if (allData.length > 0) {
+    const firstRow = allData[0];
+    const languageInstructions: string[] = [];
 
-  // First check for language_instruction fields in the data (preferred)
-  task = extractLanguageInstructions(allData);
+    if (typeof firstRow.language_instruction === "string") {
+      languageInstructions.push(firstRow.language_instruction);
+    }
 
-  // If no language instructions found, try direct task field
-  if (
-    !task &&
-    allData.length > 0 &&
-    typeof allData[0].task === "string" &&
-    allData[0].task
-  ) {
+    let instructionNum = 2;
+    while (
+      typeof firstRow[`language_instruction_${instructionNum}`] === "string"
+    ) {
+      languageInstructions.push(
+        firstRow[`language_instruction_${instructionNum}`] as string,
+      );
+      instructionNum++;
+    }
+
+    if (languageInstructions.length > 0) {
+      task = languageInstructions.join("\n");
+    }
+  }
+
+  if (!task && allData.length > 0 && typeof allData[0].task === "string") {
     task = allData[0].task;
   }
 
-  // If still no task found, try loading from tasks.jsonl metadata file (v2.x format)
   if (!task && allData.length > 0) {
     try {
       const tasksUrl = buildVersionedUrl(repoId, version, "meta/tasks.jsonl");
@@ -266,7 +367,6 @@ async function getEpisodeDataV2(
 
       if (tasksResponse.ok) {
         const tasksText = await tasksResponse.text();
-        // Parse JSONL format (one JSON object per line)
         const tasksData = tasksText
           .split("\n")
           .filter((line) => line.trim())
@@ -274,13 +374,11 @@ async function getEpisodeDataV2(
 
         if (tasksData && tasksData.length > 0) {
           const taskIndex = allData[0].task_index;
-
-          // Convert BigInt to number for comparison
           const taskIndexNum =
             typeof taskIndex === "bigint" ? Number(taskIndex) : taskIndex;
-
-          // Find task by task_index
-          const taskData = tasksData.find((t) => t.task_index === taskIndexNum);
+          const taskData = tasksData.find(
+            (t: Record<string, unknown>) => t.task_index === taskIndexNum,
+          );
           if (taskData) {
             task = taskData.task;
           }
@@ -291,20 +389,25 @@ async function getEpisodeDataV2(
     }
   }
 
-  const data = await readParquetColumn(arrayBuffer, filteredColumnNames);
-  // Flatten and map to array of objects for chartData
+  // Build chart data from already-parsed allData (no second parquet parse)
   const seriesNames = [
     "timestamp",
     ...columns.map(({ value }) => value).flat(),
   ];
 
-  const chartData = data.map((row) => {
-    const flatRow = row.flat();
+  const chartData = allData.map((row) => {
     const obj: Record<string, number> = {};
-    seriesNames.forEach((key, idx) => {
-      const value = flatRow[idx];
-      obj[key] = typeof value === "number" ? value : Number(value) || 0;
-    });
+    obj["timestamp"] = Number(row.timestamp);
+    for (const col of columns) {
+      const rawVal = row[col.key];
+      if (Array.isArray(rawVal)) {
+        rawVal.forEach((v: unknown, i: number) => {
+          if (i < col.value.length) obj[col.value[i]] = Number(v);
+        });
+      } else if (rawVal !== undefined) {
+        obj[col.value[0]] = Number(rawVal);
+      }
+    }
     return obj;
   });
 
@@ -338,6 +441,7 @@ async function getEpisodeDataV2(
     episodeId,
     videosInfo,
     chartDataGroups,
+    flatChartData: chartData,
     episodes,
     ignoredColumns,
     duration,
@@ -352,15 +456,18 @@ async function getEpisodeDataV3(
   info: DatasetMetadata,
   episodeId: number,
 ): Promise<EpisodeData> {
-  // Create dataset info structure (like v2.x)
-  const datasetInfo = {
+  const datasetInfo: DatasetDisplayInfo = {
     repoId,
     total_frames: info.total_frames,
     total_episodes: info.total_episodes,
     fps: info.fps,
+    robot_type: null,
+    codebase_version: version,
+    total_tasks: 0,
+    dataset_size_mb: 0,
+    cameras: [],
   };
 
-  // Generate episodes list based on total_episodes from dataset info
   const episodes = Array.from({ length: info.total_episodes }, (_, i) => i);
 
   // Load episode metadata to get timestamps for episode 0
@@ -379,25 +486,19 @@ async function getEpisodeDataV3(
   );
 
   // Load episode data for charts
-  const { chartDataGroups, ignoredColumns, task } = await loadEpisodeDataV3(
-    repoId,
-    version,
-    info,
-    episodeMetadata,
-  );
+  const { chartDataGroups, flatChartData, ignoredColumns, task } =
+    await loadEpisodeDataV3(repoId, version, info, episodeMetadata);
 
-  // Calculate duration from episode length and FPS if available
-  const episodeLength = bigIntToNumber(episodeMetadata.length);
-  const duration = episodeLength
-    ? episodeLength / info.fps
-    : (episodeMetadata.video_to_timestamp || 0) -
-      (episodeMetadata.video_from_timestamp || 0);
+  const duration = episodeMetadata.length
+    ? episodeMetadata.length / info.fps
+    : episodeMetadata.video_to_timestamp - episodeMetadata.video_from_timestamp;
 
   return {
     datasetInfo,
     episodeId,
     videosInfo,
     chartDataGroups,
+    flatChartData,
     episodes,
     ignoredColumns,
     duration,
@@ -412,7 +513,8 @@ async function loadEpisodeDataV3(
   info: DatasetMetadata,
   episodeMetadata: EpisodeMetadataV3,
 ): Promise<{
-  chartDataGroups: ChartDataGroup[];
+  chartDataGroups: ChartRow[][];
+  flatChartData: Record<string, number>[];
   ignoredColumns: string[];
   task?: string;
 }> {
@@ -427,9 +529,11 @@ async function loadEpisodeDataV3(
     const fullData = await readParquetAsObjects(arrayBuffer, []);
 
     // Extract the episode-specific data slice
-    // Convert BigInt to number if needed
-    const fromIndex = Number(episodeMetadata.dataset_from_index || 0);
-    const toIndex = Number(episodeMetadata.dataset_to_index || fullData.length);
+    const fromIndex = bigIntToNumber(episodeMetadata.dataset_from_index, 0);
+    const toIndex = bigIntToNumber(
+      episodeMetadata.dataset_to_index,
+      fullData.length,
+    );
 
     // Find the starting index of this parquet file by checking the first row's index
     // This handles the case where episodes are split across multiple parquet files
@@ -445,29 +549,57 @@ async function loadEpisodeDataV3(
     const episodeData = fullData.slice(localFromIndex, localToIndex);
 
     if (episodeData.length === 0) {
-      return { chartDataGroups: [], ignoredColumns: [], task: undefined };
+      return {
+        chartDataGroups: [],
+        flatChartData: [],
+        ignoredColumns: [],
+        task: undefined,
+      };
     }
 
     // Convert to the same format as v2.x for compatibility with existing chart code
-    const { chartDataGroups, ignoredColumns } = processEpisodeDataForCharts(
-      episodeData,
-      info,
-      episodeMetadata,
-    );
+    const { chartDataGroups, flatChartData, ignoredColumns } =
+      processEpisodeDataForCharts(episodeData, info, episodeMetadata);
 
     // First check for language_instruction fields in the data (preferred)
-    // Check multiple rows: first, middle, and last
-    const sampleIndices = [
-      0,
-      Math.floor(episodeData.length / 2),
-      episodeData.length - 1,
-    ];
-    let task = extractLanguageInstructions(episodeData, sampleIndices);
-
-    // If no language instructions found, fall back to tasks metadata
-    if (!task) {
+    let task: string | undefined;
+    if (episodeData.length > 0) {
+      const languageInstructions: string[] = [];
+
+      const extractInstructions = (row: Record<string, unknown>) => {
+        if (typeof row.language_instruction === "string") {
+          languageInstructions.push(row.language_instruction);
+        }
+        let num = 2;
+        while (typeof row[`language_instruction_${num}`] === "string") {
+          languageInstructions.push(
+            row[`language_instruction_${num}`] as string,
+          );
+          num++;
+        }
+      };
+
+      extractInstructions(episodeData[0]);
+
+      // If no instructions in first row, check middle and last rows
+      if (languageInstructions.length === 0 && episodeData.length > 1) {
+        for (const idx of [
+          Math.floor(episodeData.length / 2),
+          episodeData.length - 1,
+        ]) {
+          extractInstructions(episodeData[idx]);
+          if (languageInstructions.length > 0) break;
+        }
+      }
+
+      if (languageInstructions.length > 0) {
+        task = languageInstructions.join("\n");
+      }
+    }
+
+    // Fall back to tasks metadata parquet
+    if (!task && episodeData.length > 0) {
       try {
-        // Load tasks metadata
         const tasksUrl = buildVersionedUrl(
           repoId,
           version,
@@ -476,53 +608,28 @@ async function loadEpisodeDataV3(
         const tasksArrayBuffer = await fetchParquetFile(tasksUrl);
         const tasksData = await readParquetAsObjects(tasksArrayBuffer, []);
 
-        if (
-          episodeData.length > 0 &&
-          tasksData &&
-          tasksData.length > 0 &&
-          "task_index" in episodeData[0]
-        ) {
-          const taskIndex = episodeData[0].task_index;
+        if (tasksData.length > 0) {
+          const taskIndexNum = bigIntToNumber(episodeData[0].task_index, -1);
 
-          // Convert BigInt to number for comparison
-          const taskIndexNum =
-            typeof taskIndex === "bigint"
-              ? Number(taskIndex)
-              : typeof taskIndex === "number"
-                ? taskIndex
-                : undefined;
-
-          // Look up task by index
-          if (
-            taskIndexNum !== undefined &&
-            taskIndexNum >= 0 &&
-            taskIndexNum < tasksData.length
-          ) {
+          if (taskIndexNum >= 0 && taskIndexNum < tasksData.length) {
             const taskData = tasksData[taskIndexNum];
-            // Extract task from various possible fields
-            if (
-              taskData &&
-              "__index_level_0__" in taskData &&
-              typeof taskData.__index_level_0__ === "string"
-            ) {
-              task = taskData.__index_level_0__;
-            } else if (
-              taskData &&
-              "task" in taskData &&
-              typeof taskData.task === "string"
-            ) {
-              task = taskData.task;
-            }
+            const rawTask = taskData.__index_level_0__ ?? taskData.task;
+            task = typeof rawTask === "string" ? rawTask : undefined;
           }
         }
       } catch {
-        // Could not load tasks metadata - dataset might not have language tasks
+        // Could not load tasks metadata
       }
     }
 
-    return { chartDataGroups, ignoredColumns, task };
+    return { chartDataGroups, flatChartData, ignoredColumns, task };
   } catch {
-    return { chartDataGroups: [], ignoredColumns: [], task: undefined };
+    return {
+      chartDataGroups: [],
+      flatChartData: [],
+      ignoredColumns: [],
+      task: undefined,
+    };
   }
 }
 
@@ -531,16 +638,11 @@ function processEpisodeDataForCharts(
   episodeData: Record<string, unknown>[],
   info: DatasetMetadata,
   episodeMetadata?: EpisodeMetadataV3,
-): { chartDataGroups: ChartDataGroup[]; ignoredColumns: string[] } {
-  // Get numeric column features (not currently used but kept for reference)
-  // const columnNames = Object.entries(info.features)
-  //   .filter(
-  //     ([, value]) =>
-  //       ["float32", "int32"].includes(value.dtype) &&
-  //       value.shape.length === 1,
-  //   )
-  //   .map(([key, value]) => ({ key, value }));
-
+): {
+  chartDataGroups: ChartRow[][];
+  flatChartData: Record<string, number>[];
+  ignoredColumns: string[];
+} {
   // Convert parquet data to chart format
   let seriesNames: string[] = [];
 
@@ -576,7 +678,7 @@ function processEpisodeDataForCharts(
   const excludedColumns = EXCLUDED_COLUMNS.V3 as readonly string[];
 
   // Create columns structure similar to V2.1 for proper hierarchical naming
-  const columns = Object.entries(info.features)
+  const columns: ColumnDef[] = Object.entries(info.features)
     .filter(
       ([key, value]) =>
         ["float32", "int32"].includes(value.dtype) &&
@@ -584,16 +686,16 @@ function processEpisodeDataForCharts(
         !excludedColumns.includes(key),
     )
     .map(([key, feature]) => {
-      let column_names = feature.names;
-      while (typeof column_names === "object") {
+      let column_names: unknown = feature.names;
+      while (typeof column_names === "object" && column_names !== null) {
         if (Array.isArray(column_names)) break;
-        column_names = Object.values(column_names ?? {})[0];
+        column_names = Object.values(column_names)[0];
       }
       return {
         key,
         value: Array.isArray(column_names)
           ? column_names.map(
-              (name) => `${key}${CHART_CONFIG.SERIES_NAME_DELIMITER}${name}`,
+              (name: string) => `${key}${SERIES_NAME_DELIMITER}${name}`,
             )
           : Array.from(
               { length: feature.shape[0] || 1 },
@@ -714,45 +816,6 @@ function processEpisodeDataForCharts(
   // Process chart data into organized groups using utility function
   const chartGroups = processChartDataGroups(seriesNames, chartData);
 
-  // Utility function to group row keys by suffix (same as V2.1)
-  function groupRowBySuffix(row: Record<string, number>): {
-    timestamp: number;
-    [key: string]: number | Record<string, number>;
-  } {
-    const result: {
-      timestamp: number;
-      [key: string]: number | Record<string, number>;
-    } = {
-      timestamp: 0,
-    };
-    const suffixGroups: Record<string, Record<string, number>> = {};
-    for (const [key, value] of Object.entries(row)) {
-      if (key === "timestamp") {
-        result.timestamp = value;
-        continue;
-      }
-      const parts = key.split(CHART_CONFIG.SERIES_NAME_DELIMITER);
-      if (parts.length === 2) {
-        const [prefix, suffix] = parts;
-        if (!suffixGroups[suffix]) suffixGroups[suffix] = {};
-        suffixGroups[suffix][prefix] = value;
-      } else {
-        result[key] = value;
-      }
-    }
-    for (const [suffix, group] of Object.entries(suffixGroups)) {
-      const keys = Object.keys(group);
-      if (keys.length === 1) {
-        // Use the full original name as the key
-        const fullName = `${keys[0]}${CHART_CONFIG.SERIES_NAME_DELIMITER}${suffix}`;
-        result[fullName] = group[keys[0]];
-      } else {
-        result[suffix] = group;
-      }
-    }
-    return result;
-  }
-
   const chartDataGroups = chartGroups.map((group) =>
     chartData.map((row) => {
       const grouped = groupRowBySuffix(pick(row, [...group, "timestamp"]));
@@ -765,7 +828,7 @@ function processEpisodeDataForCharts(
     }),
   );
 
-  return { chartDataGroups, ignoredColumns };
+  return { chartDataGroups, flatChartData: chartData, ignoredColumns };
 }
 
 // Video info extraction with segmentation for v3.0
@@ -786,18 +849,22 @@ function extractVideoInfoV3WithSegmentation(
       key.startsWith(`videos/${videoKey}/`),
     );
 
-    let chunkIndex, fileIndex, segmentStart, segmentEnd;
+    let chunkIndex: number,
+      fileIndex: number,
+      segmentStart: number,
+      segmentEnd: number;
+
+    const toNum = (v: string | number): number =>
+      typeof v === "string" ? parseFloat(v) || 0 : v;
 
     if (cameraSpecificKeys.length > 0) {
-      // Use camera-specific metadata
-      const chunkValue = episodeMetadata[`videos/${videoKey}/chunk_index`];
-      const fileValue = episodeMetadata[`videos/${videoKey}/file_index`];
-      chunkIndex = bigIntToNumber(chunkValue, 0);
-      fileIndex = bigIntToNumber(fileValue, 0);
-      segmentStart = episodeMetadata[`videos/${videoKey}/from_timestamp`] || 0;
-      segmentEnd = episodeMetadata[`videos/${videoKey}/to_timestamp`] || 30;
+      chunkIndex = toNum(episodeMetadata[`videos/${videoKey}/chunk_index`]);
+      fileIndex = toNum(episodeMetadata[`videos/${videoKey}/file_index`]);
+      segmentStart =
+        toNum(episodeMetadata[`videos/${videoKey}/from_timestamp`]) || 0;
+      segmentEnd =
+        toNum(episodeMetadata[`videos/${videoKey}/to_timestamp`]) || 30;
     } else {
-      // Fallback to generic video metadata
       chunkIndex = episodeMetadata.video_chunk_index || 0;
       fileIndex = episodeMetadata.video_file_index || 0;
       segmentStart = episodeMetadata.video_from_timestamp || 0;
@@ -899,70 +966,83 @@ function parseEpisodeRowSimple(
     // Check if this is v3.0 format with named keys
     if ("episode_index" in row) {
       // v3.0 format - use named keys
-      const episodeData: Record<string, number | bigint | undefined> = {
-        episode_index: bigIntToNumber(row["episode_index"], 0),
-        data_chunk_index: bigIntToNumber(row["data/chunk_index"], 0),
-        data_file_index: bigIntToNumber(row["data/file_index"], 0),
-        dataset_from_index: bigIntToNumber(row["dataset_from_index"], 0),
-        dataset_to_index: bigIntToNumber(row["dataset_to_index"], 0),
-        length: bigIntToNumber(row["length"], 0),
+      // Convert BigInt values to numbers
+      const toBigIntSafe = (value: unknown): number => {
+        if (typeof value === "bigint") return Number(value);
+        if (typeof value === "number") return value;
+        if (typeof value === "string") return parseInt(value) || 0;
+        return 0;
+      };
+
+      const toNumSafe = (value: unknown): number => {
+        if (typeof value === "number") return value;
+        if (typeof value === "bigint") return Number(value);
+        if (typeof value === "string") return parseFloat(value) || 0;
+        return 0;
       };
 
       // Handle video metadata - look for video-specific keys
       const videoKeys = Object.keys(row).filter(
         (key) => key.includes("videos/") && key.includes("/chunk_index"),
       );
+      let videoChunkIndex = 0,
+        videoFileIndex = 0,
+        videoFromTs = 0,
+        videoToTs = 30;
       if (videoKeys.length > 0) {
-        // Use the first video stream for basic info
-        const firstVideoKey = videoKeys[0];
-        const videoBaseName = firstVideoKey.replace("/chunk_index", "");
-
-        episodeData.video_chunk_index = bigIntToNumber(
-          row[`${videoBaseName}/chunk_index`],
-          0,
-        );
-        episodeData.video_file_index = bigIntToNumber(
-          row[`${videoBaseName}/file_index`],
-          0,
-        );
-        episodeData.video_from_timestamp = bigIntToNumber(
-          row[`${videoBaseName}/from_timestamp`],
-          0,
-        );
-        episodeData.video_to_timestamp = bigIntToNumber(
-          row[`${videoBaseName}/to_timestamp`],
-          0,
-        );
-      } else {
-        // Fallback video values
-        episodeData.video_chunk_index = 0;
-        episodeData.video_file_index = 0;
-        episodeData.video_from_timestamp = 0;
-        episodeData.video_to_timestamp = 30;
+        const videoBaseName = videoKeys[0].replace("/chunk_index", "");
+        videoChunkIndex = toBigIntSafe(row[`${videoBaseName}/chunk_index`]);
+        videoFileIndex = toBigIntSafe(row[`${videoBaseName}/file_index`]);
+        videoFromTs = toNumSafe(row[`${videoBaseName}/from_timestamp`]);
+        videoToTs = toNumSafe(row[`${videoBaseName}/to_timestamp`]) || 30;
       }
 
-      // Store the raw row data to preserve per-camera metadata
-      // This allows extractVideoInfoV3WithSegmentation to access camera-specific timestamps
+      const episodeData: EpisodeMetadataV3 = {
+        episode_index: toBigIntSafe(row["episode_index"]),
+        data_chunk_index: toBigIntSafe(row["data/chunk_index"]),
+        data_file_index: toBigIntSafe(row["data/file_index"]),
+        dataset_from_index: toBigIntSafe(row["dataset_from_index"]),
+        dataset_to_index: toBigIntSafe(row["dataset_to_index"]),
+        length: toBigIntSafe(row["length"]),
+        video_chunk_index: videoChunkIndex,
+        video_file_index: videoFileIndex,
+        video_from_timestamp: videoFromTs,
+        video_to_timestamp: videoToTs,
+      };
+
+      // Store per-camera metadata for extractVideoInfoV3WithSegmentation
       Object.keys(row).forEach((key) => {
         if (key.startsWith("videos/")) {
-          episodeData[key] = bigIntToNumber(row[key]);
+          const val = row[key];
+          episodeData[key] =
+            typeof val === "bigint"
+              ? Number(val)
+              : typeof val === "number" || typeof val === "string"
+                ? val
+                : 0;
         }
       });
 
       return episodeData as EpisodeMetadataV3;
     } else {
       // Fallback to numeric keys for compatibility
+      const toNum = (v: unknown, fallback = 0): number =>
+        typeof v === "number"
+          ? v
+          : typeof v === "bigint"
+            ? Number(v)
+            : fallback;
       return {
-        episode_index: bigIntToNumber(row["0"], 0),
-        data_chunk_index: bigIntToNumber(row["1"], 0),
-        data_file_index: bigIntToNumber(row["2"], 0),
-        dataset_from_index: bigIntToNumber(row["3"], 0),
-        dataset_to_index: bigIntToNumber(row["4"], 0),
-        video_chunk_index: bigIntToNumber(row["5"], 0),
-        video_file_index: bigIntToNumber(row["6"], 0),
-        video_from_timestamp: bigIntToNumber(row["7"], 0),
-        video_to_timestamp: bigIntToNumber(row["8"], 30),
-        length: bigIntToNumber(row["9"], 30),
+        episode_index: toNum(row["0"]),
+        data_chunk_index: toNum(row["1"]),
+        data_file_index: toNum(row["2"]),
+        dataset_from_index: toNum(row["3"]),
+        dataset_to_index: toNum(row["4"]),
+        video_chunk_index: toNum(row["5"]),
+        video_file_index: toNum(row["6"]),
+        video_from_timestamp: toNum(row["7"]),
+        video_to_timestamp: toNum(row["8"], 30),
+        length: toNum(row["9"], 30),
       };
     }
   }
@@ -984,6 +1064,995 @@ function parseEpisodeRowSimple(
   return fallback;
 }
 
+// ─── Stats computation ───────────────────────────────────────────
+
+/**
+ * Compute per-column min/max values from the current episode's chart data.
+ */
+export function computeColumnMinMax(
+  chartDataGroups: ChartRow[][],
+): ColumnMinMax[] {
+  const stats: Record<string, { min: number; max: number }> = {};
+
+  for (const group of chartDataGroups) {
+    for (const row of group) {
+      for (const [key, value] of Object.entries(row)) {
+        if (key === "timestamp") continue;
+        if (typeof value === "number" && isFinite(value)) {
+          if (!stats[key]) {
+            stats[key] = { min: value, max: value };
+          } else {
+            if (value < stats[key].min) stats[key].min = value;
+            if (value > stats[key].max) stats[key].max = value;
+          }
+        } else if (typeof value === "object" && value !== null) {
+          // Nested group like { joint_0: 1.2, joint_1: 3.4 }
+          for (const [subKey, subVal] of Object.entries(value)) {
+            const fullKey = `${key} | ${subKey}`;
+            if (typeof subVal === "number" && isFinite(subVal)) {
+              if (!stats[fullKey]) {
+                stats[fullKey] = { min: subVal, max: subVal };
+              } else {
+                if (subVal < stats[fullKey].min) stats[fullKey].min = subVal;
+                if (subVal > stats[fullKey].max) stats[fullKey].max = subVal;
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+
+  return Object.entries(stats).map(([column, { min, max }]) => ({
+    column,
+    min: Math.round(min * 1000) / 1000,
+    max: Math.round(max * 1000) / 1000,
+  }));
+}
+
+/**
+ * Load all episode lengths from the episodes metadata parquet files (v3.0).
+ * Returns min/max/mean/median/std and a histogram, or null if unavailable.
+ */
+export async function loadAllEpisodeLengthsV3(
+  repoId: string,
+  version: string,
+  fps: number,
+): Promise<EpisodeLengthStats | null> {
+  try {
+    const allEpisodes: { index: number; length: number }[] = [];
+    let fileIndex = 0;
+    const chunkIndex = 0;
+
+    while (true) {
+      const path = `meta/episodes/chunk-${chunkIndex.toString().padStart(3, "0")}/file-${fileIndex.toString().padStart(3, "0")}.parquet`;
+      const url = buildVersionedUrl(repoId, version, path);
+      try {
+        const buf = await fetchParquetFile(url);
+        const rows = await readParquetAsObjects(buf, []);
+        if (rows.length === 0 && fileIndex > 0) break;
+        for (const row of rows) {
+          const parsed = parseEpisodeRowSimple(row);
+          allEpisodes.push({
+            index: parsed.episode_index,
+            length: parsed.length,
+          });
+        }
+        fileIndex++;
+      } catch {
+        break;
+      }
+    }
+
+    if (allEpisodes.length === 0) return null;
+
+    const withSeconds = allEpisodes.map((ep) => ({
+      episodeIndex: ep.index,
+      frames: ep.length,
+      lengthSeconds: Math.round((ep.length / fps) * 100) / 100,
+    }));
+
+    const sortedByLength = [...withSeconds].sort(
+      (a, b) => a.lengthSeconds - b.lengthSeconds,
+    );
+    const shortestEpisodes = sortedByLength.slice(0, 5);
+    const longestEpisodes = sortedByLength.slice(-5).reverse();
+
+    const lengths = withSeconds.map((e) => e.lengthSeconds);
+    const sum = lengths.reduce((a, b) => a + b, 0);
+    const mean = Math.round((sum / lengths.length) * 100) / 100;
+
+    const sorted = [...lengths].sort((a, b) => a - b);
+    const mid = Math.floor(sorted.length / 2);
+    const median =
+      sorted.length % 2 === 0
+        ? Math.round(((sorted[mid - 1] + sorted[mid]) / 2) * 100) / 100
+        : sorted[mid];
+
+    const variance =
+      lengths.reduce((acc, l) => acc + (l - mean) ** 2, 0) / lengths.length;
+    const std = Math.round(Math.sqrt(variance) * 100) / 100;
+
+    // Build histogram
+    const histMin = Math.min(...lengths);
+    const histMax = Math.max(...lengths);
+
+    if (histMax === histMin) {
+      return {
+        shortestEpisodes,
+        longestEpisodes,
+        allEpisodeLengths: withSeconds,
+        meanEpisodeLength: mean,
+        medianEpisodeLength: median,
+        stdEpisodeLength: std,
+        episodeLengthHistogram: [
+          { binLabel: `${histMin.toFixed(1)}s`, count: lengths.length },
+        ],
+      };
+    }
+
+    const p1 = sorted[Math.floor(sorted.length * 0.01)];
+    const p99 = sorted[Math.ceil(sorted.length * 0.99) - 1];
+    const range = p99 - p1 || 1;
+
+    const targetBins = Math.max(
+      10,
+      Math.min(50, Math.ceil(Math.log2(lengths.length) + 1)),
+    );
+    const rawBinWidth = range / targetBins;
+    const magnitude = Math.pow(10, Math.floor(Math.log10(rawBinWidth)));
+    const niceSteps = [1, 2, 2.5, 5, 10];
+    const niceBinWidth =
+      niceSteps.map((s) => s * magnitude).find((w) => w >= rawBinWidth) ??
+      rawBinWidth;
+
+    const niceMin = Math.floor(p1 / niceBinWidth) * niceBinWidth;
+    const niceMax = Math.ceil(p99 / niceBinWidth) * niceBinWidth;
+    const actualBinCount = Math.max(
+      1,
+      Math.round((niceMax - niceMin) / niceBinWidth),
+    );
+    const bins = Array.from({ length: actualBinCount }, () => 0);
+
+    for (const len of lengths) {
+      let binIdx = Math.floor((len - niceMin) / niceBinWidth);
+      if (binIdx < 0) binIdx = 0;
+      if (binIdx >= actualBinCount) binIdx = actualBinCount - 1;
+      bins[binIdx]++;
+    }
+
+    const histogram = bins.map((count, i) => {
+      const lo = niceMin + i * niceBinWidth;
+      const hi = lo + niceBinWidth;
+      return { binLabel: `${lo.toFixed(1)}–${hi.toFixed(1)}s`, count };
+    });
+
+    return {
+      shortestEpisodes,
+      longestEpisodes,
+      allEpisodeLengths: withSeconds,
+      meanEpisodeLength: mean,
+      medianEpisodeLength: median,
+      stdEpisodeLength: std,
+      episodeLengthHistogram: histogram,
+    };
+  } catch {
+    return null;
+  }
+}
+
+/**
+ * Load video frame info for all episodes across all cameras.
+ * Returns camera names + a map of camera → EpisodeFrameInfo[].
+ */
+export async function loadAllEpisodeFrameInfo(
+  repoId: string,
+  version: string,
+  info: DatasetMetadata,
+): Promise<EpisodeFramesData> {
+  const videoFeatures = Object.entries(info.features).filter(
+    ([, f]) => f.dtype === "video",
+  );
+  if (videoFeatures.length === 0) return { cameras: [], framesByCamera: {} };
+
+  const cameras = videoFeatures.map(([key]) => key);
+  const framesByCamera: Record<string, EpisodeFrameInfo[]> = {};
+  for (const cam of cameras) framesByCamera[cam] = [];
+
+  if (version === "v3.0") {
+    let fileIndex = 0;
+    while (true) {
+      const path = `meta/episodes/chunk-000/file-${fileIndex.toString().padStart(3, "0")}.parquet`;
+      try {
+        const buf = await fetchParquetFile(
+          buildVersionedUrl(repoId, version, path),
+        );
+        const rows = await readParquetAsObjects(buf, []);
+        if (rows.length === 0 && fileIndex > 0) break;
+        for (const row of rows) {
+          const epIdx = Number(row["episode_index"] ?? 0);
+          for (const cam of cameras) {
+            const cIdx = Number(
+              row[`videos/${cam}/chunk_index`] ?? row["video_chunk_index"] ?? 0,
+            );
+            const fIdx = Number(
+              row[`videos/${cam}/file_index`] ?? row["video_file_index"] ?? 0,
+            );
+            const fromTs = Number(
+              row[`videos/${cam}/from_timestamp`] ??
+                row["video_from_timestamp"] ??
+                0,
+            );
+            const toTs = Number(
+              row[`videos/${cam}/to_timestamp`] ??
+                row["video_to_timestamp"] ??
+                30,
+            );
+            const videoPath = `videos/${cam}/chunk-${cIdx.toString().padStart(3, "0")}/file-${fIdx.toString().padStart(3, "0")}.mp4`;
+            framesByCamera[cam].push({
+              episodeIndex: epIdx,
+              videoUrl: buildVersionedUrl(repoId, version, videoPath),
+              firstFrameTime: fromTs,
+              lastFrameTime: Math.max(0, toTs - 0.05),
+            });
+          }
+        }
+        fileIndex++;
+      } catch {
+        break;
+      }
+    }
+    return { cameras, framesByCamera };
+  }
+
+  // v2.x — construct URLs from template
+  for (let i = 0; i < info.total_episodes; i++) {
+    const chunk = Math.floor(i / (info.chunks_size || 1000));
+    for (const cam of cameras) {
+      const videoPath = formatStringWithVars(info.video_path, {
+        video_key: cam,
+        episode_chunk: chunk.toString().padStart(3, "0"),
+        episode_index: i.toString().padStart(6, "0"),
+      });
+      framesByCamera[cam].push({
+        episodeIndex: i,
+        videoUrl: buildVersionedUrl(repoId, version, videoPath),
+        firstFrameTime: 0,
+        lastFrameTime: null,
+      });
+    }
+  }
+  return { cameras, framesByCamera };
+}
+
+// ─── Cross-episode action variance ──────────────────────────────
+
+export type LowMovementEpisode = {
+  episodeIndex: number;
+  totalMovement: number;
+};
+
+export type AggVelocityStat = {
+  name: string;
+  std: number; // normalized by motor range
+  maxAbs: number; // normalized by motor range
+  bins: number[];
+  lo: number; // normalized by motor range
+  hi: number; // normalized by motor range
+  motorRange: number;
+  inactive?: boolean; // true if p95(|Δa|) < 1% of motor range
+  discrete?: boolean; // true if motor has very few unique values (e.g. open/close gripper)
+};
+
+export type AggAutocorrelation = {
+  chartData: Record<string, number>[];
+  suggestedChunk: number | null;
+  shortKeys: string[];
+};
+
+export type SpeedDistEntry = {
+  episodeIndex: number;
+  speed: number;
+};
+
+export type AggAlignment = {
+  ccData: { lag: number; max: number; mean: number; min: number }[];
+  meanPeakLag: number;
+  meanPeakCorr: number;
+  maxPeakLag: number;
+  maxPeakCorr: number;
+  minPeakLag: number;
+  minPeakCorr: number;
+  lagRangeMin: number;
+  lagRangeMax: number;
+  numPairs: number;
+};
+
+export type JerkyEpisode = {
+  episodeIndex: number;
+  meanAbsDelta: number;
+};
+
+export type CrossEpisodeVarianceData = {
+  actionNames: string[];
+  timeBins: number[];
+  variance: number[][];
+  numEpisodes: number;
+  lowMovementEpisodes: LowMovementEpisode[];
+  aggVelocity: AggVelocityStat[];
+  aggAutocorrelation: AggAutocorrelation | null;
+  speedDistribution: SpeedDistEntry[];
+  jerkyEpisodes: JerkyEpisode[];
+  aggAlignment: AggAlignment | null;
+};
+
+export async function loadCrossEpisodeActionVariance(
+  repoId: string,
+  version: string,
+  info: DatasetMetadata,
+  fps: number,
+  maxEpisodes = 500,
+  numTimeBins = 50,
+): Promise<CrossEpisodeVarianceData | null> {
+  const actionEntry = Object.entries(info.features).find(
+    ([key, f]) => key === "action" && f.shape.length === 1,
+  );
+  if (!actionEntry) {
+    console.warn(
+      "[cross-ep] No action feature found. Available features:",
+      Object.entries(info.features)
+        .map(([k, f]) => `${k}(${f.dtype}, shape=${JSON.stringify(f.shape)})`)
+        .join(", "),
+    );
+    return null;
+  }
+
+  const [actionKey, actionMeta] = actionEntry;
+  const actionDim = actionMeta.shape[0];
+
+  let names: unknown = actionMeta.names;
+  while (typeof names === "object" && names !== null && !Array.isArray(names)) {
+    names = Object.values(names)[0];
+  }
+  const actionNames = Array.isArray(names)
+    ? (names as string[]).map((n) => `${actionKey}${SERIES_NAME_DELIMITER}${n}`)
+    : Array.from(
+        { length: actionDim },
+        (_, i) => `${actionKey}${SERIES_NAME_DELIMITER}${i}`,
+      );
+
+  // State feature for alignment computation
+  const stateEntry = Object.entries(info.features).find(
+    ([key, f]) => key === "observation.state" && f.shape.length === 1,
+  );
+  const stateKey = stateEntry?.[0] ?? null;
+  const stateDim = stateEntry?.[1].shape[0] ?? 0;
+
+  // Collect episode metadata
+  type EpMeta = {
+    index: number;
+    chunkIdx: number;
+    fileIdx: number;
+    from: number;
+    to: number;
+  };
+  const allEps: EpMeta[] = [];
+
+  if (version === "v3.0") {
+    let fileIndex = 0;
+    while (true) {
+      const path = `meta/episodes/chunk-000/file-${fileIndex.toString().padStart(3, "0")}.parquet`;
+      try {
+        const buf = await fetchParquetFile(
+          buildVersionedUrl(repoId, version, path),
+        );
+        const rows = await readParquetAsObjects(buf, []);
+        if (rows.length === 0 && fileIndex > 0) break;
+        for (const row of rows) {
+          const parsed = parseEpisodeRowSimple(row);
+          allEps.push({
+            index: parsed.episode_index,
+            chunkIdx: parsed.data_chunk_index,
+            fileIdx: parsed.data_file_index,
+            from: parsed.dataset_from_index,
+            to: parsed.dataset_to_index,
+          });
+        }
+        fileIndex++;
+      } catch {
+        break;
+      }
+    }
+  } else {
+    for (let i = 0; i < info.total_episodes; i++) {
+      allEps.push({ index: i, chunkIdx: 0, fileIdx: 0, from: 0, to: 0 });
+    }
+  }
+
+  if (allEps.length < 2) {
+    console.warn(
+      `[cross-ep] Only ${allEps.length} episode(s) found in metadata, need ≥2`,
+    );
+    return null;
+  }
+  console.log(
+    `[cross-ep] Found ${allEps.length} episodes in metadata, sampling up to ${maxEpisodes}`,
+  );
+
+  // Sample episodes evenly
+  const sampled =
+    allEps.length <= maxEpisodes
+      ? allEps
+      : Array.from(
+          { length: maxEpisodes },
+          (_, i) =>
+            allEps[Math.round((i * (allEps.length - 1)) / (maxEpisodes - 1))],
+        );
+
+  // Load action (and state) data per episode
+  const episodeActions: { index: number; actions: number[][] }[] = [];
+  const episodeStates: (number[][] | null)[] = [];
+
+  if (version === "v3.0") {
+    const byFile = new Map<string, EpMeta[]>();
+    for (const ep of sampled) {
+      const key = `${ep.chunkIdx}-${ep.fileIdx}`;
+      if (!byFile.has(key)) byFile.set(key, []);
+      byFile.get(key)!.push(ep);
+    }
+
+    for (const [, eps] of byFile) {
+      const ep0 = eps[0];
+      const dataPath = `data/chunk-${ep0.chunkIdx.toString().padStart(3, "0")}/file-${ep0.fileIdx.toString().padStart(3, "0")}.parquet`;
+      try {
+        const buf = await fetchParquetFile(
+          buildVersionedUrl(repoId, version, dataPath),
+        );
+        const rows = await readParquetAsObjects(buf, []);
+        const fileStart =
+          rows.length > 0 && rows[0].index !== undefined
+            ? Number(rows[0].index)
+            : 0;
+
+        for (const ep of eps) {
+          const localFrom = Math.max(0, ep.from - fileStart);
+          const localTo = Math.min(rows.length, ep.to - fileStart);
+          const actions: number[][] = [];
+          const states: number[][] = [];
+          for (let r = localFrom; r < localTo; r++) {
+            const raw = rows[r]?.[actionKey];
+            if (Array.isArray(raw)) actions.push(raw.map(Number));
+            if (stateKey) {
+              const sRaw = rows[r]?.[stateKey];
+              if (Array.isArray(sRaw)) states.push(sRaw.map(Number));
+            }
+          }
+          if (actions.length > 0) {
+            episodeActions.push({ index: ep.index, actions });
+            episodeStates.push(
+              stateKey && states.length === actions.length ? states : null,
+            );
+          }
+        }
+      } catch {
+        /* skip file */
+      }
+    }
+  } else {
+    const chunkSize = info.chunks_size || 1000;
+    for (const ep of sampled) {
+      const chunk = Math.floor(ep.index / chunkSize);
+      const dataPath = formatStringWithVars(info.data_path, {
+        episode_chunk: chunk.toString().padStart(3, "0"),
+        episode_index: ep.index.toString().padStart(6, "0"),
+      });
+      try {
+        const buf = await fetchParquetFile(
+          buildVersionedUrl(repoId, version, dataPath),
+        );
+        const rows = await readParquetAsObjects(buf, []);
+        const actions: number[][] = [];
+        const states: number[][] = [];
+        for (const row of rows) {
+          const raw = row[actionKey];
+          if (Array.isArray(raw)) {
+            actions.push(raw.map(Number));
+          } else {
+            const vec: number[] = [];
+            for (let d = 0; d < actionDim; d++) {
+              const v = row[`${actionKey}.${d}`] ?? row[d];
+              vec.push(typeof v === "number" ? v : Number(v) || 0);
+            }
+            actions.push(vec);
+          }
+          if (stateKey) {
+            const sRaw = row[stateKey];
+            if (Array.isArray(sRaw)) states.push(sRaw.map(Number));
+          }
+        }
+        if (actions.length > 0) {
+          episodeActions.push({ index: ep.index, actions });
+          episodeStates.push(
+            stateKey && states.length === actions.length ? states : null,
+          );
+        }
+      } catch {
+        /* skip */
+      }
+    }
+  }
+
+  if (episodeActions.length < 2) {
+    console.warn(
+      `[cross-ep] Only ${episodeActions.length} episode(s) had loadable action data out of ${sampled.length} sampled`,
+    );
+    return null;
+  }
+  console.log(
+    `[cross-ep] Loaded action data for ${episodeActions.length}/${sampled.length} episodes`,
+  );
+
+  // Resample each episode to numTimeBins and compute variance
+  const timeBins = Array.from(
+    { length: numTimeBins },
+    (_, i) => i / (numTimeBins - 1),
+  );
+  const sums = Array.from(
+    { length: numTimeBins },
+    () => new Float64Array(actionDim),
+  );
+  const sumsSq = Array.from(
+    { length: numTimeBins },
+    () => new Float64Array(actionDim),
+  );
+  const counts = new Uint32Array(numTimeBins);
+
+  for (const { actions: epActions } of episodeActions) {
+    const T = epActions.length;
+    for (let b = 0; b < numTimeBins; b++) {
+      const srcIdx = Math.min(Math.round(timeBins[b] * (T - 1)), T - 1);
+      const row = epActions[srcIdx];
+      for (let d = 0; d < actionDim; d++) {
+        const v = row[d] ?? 0;
+        sums[b][d] += v;
+        sumsSq[b][d] += v * v;
+      }
+      counts[b]++;
+    }
+  }
+
+  const variance: number[][] = [];
+  for (let b = 0; b < numTimeBins; b++) {
+    const row: number[] = [];
+    const n = counts[b];
+    for (let d = 0; d < actionDim; d++) {
+      if (n < 2) {
+        row.push(0);
+        continue;
+      }
+      const mean = sums[b][d] / n;
+      row.push(sumsSq[b][d] / n - mean * mean);
+    }
+    variance.push(row);
+  }
+
+  // Per-episode average movement per frame: mean L2 norm of frame-to-frame action deltas
+  const movementScores: LowMovementEpisode[] = episodeActions.map(
+    ({ index, actions: ep }) => {
+      if (ep.length < 2) return { episodeIndex: index, totalMovement: 0 };
+      let total = 0;
+      for (let t = 1; t < ep.length; t++) {
+        let sumSq = 0;
+        for (let d = 0; d < actionDim; d++) {
+          const delta = (ep[t][d] ?? 0) - (ep[t - 1][d] ?? 0);
+          sumSq += delta * delta;
+        }
+        total += Math.sqrt(sumSq);
+      }
+      const avgPerFrame = total / (ep.length - 1);
+      return {
+        episodeIndex: index,
+        totalMovement: Math.round(avgPerFrame * 10000) / 10000,
+      };
+    },
+  );
+
+  movementScores.sort((a, b) => a.totalMovement - b.totalMovement);
+  const lowMovementEpisodes = movementScores.slice(0, 10);
+
+  // Precompute per-dimension normalization: motor range (max − min) and unique value count
+  const motorRanges: number[] = new Array(actionDim);
+  const motorUniqueCount: number[] = new Array(actionDim);
+  const DISCRETE_THRESHOLD = 4; // ≤ this many unique values → discrete motor
+  for (let d = 0; d < actionDim; d++) {
+    let lo = Infinity,
+      hi = -Infinity;
+    const uniqueVals = new Set<number>();
+    for (const { actions: ep } of episodeActions) {
+      for (let t = 0; t < ep.length; t++) {
+        const v = ep[t][d] ?? 0;
+        if (v < lo) lo = v;
+        if (v > hi) hi = v;
+        if (uniqueVals.size <= DISCRETE_THRESHOLD) uniqueVals.add(v);
+      }
+    }
+    motorRanges[d] = hi - lo || 1;
+    motorUniqueCount[d] = uniqueVals.size;
+  }
+
+  // Per-episode, per-dimension activity: p95(|Δa|) >= 1% of motor range
+  const ACTIVITY_THRESHOLD = 0.001; // 0.1% of motor range
+  // activeMap[episodeIdx][dimIdx] = true if motor d is active in that episode
+  const activeMap: boolean[][] = episodeActions.map(({ actions: ep }) => {
+    const flags: boolean[] = new Array(actionDim);
+    for (let d = 0; d < actionDim; d++) {
+      if (ep.length < 2) {
+        flags[d] = false;
+        continue;
+      }
+      const absDeltas: number[] = [];
+      for (let t = 1; t < ep.length; t++) {
+        absDeltas.push(Math.abs((ep[t][d] ?? 0) - (ep[t - 1][d] ?? 0)));
+      }
+      absDeltas.sort((a, b) => a - b);
+      const p95 = absDeltas[Math.floor(absDeltas.length * 0.95)];
+      flags[d] = p95 >= motorRanges[d] * ACTIVITY_THRESHOLD;
+    }
+    return flags;
+  });
+  // A motor is globally inactive only if inactive in all episodes
+  const globallyActive: boolean[] = new Array(actionDim);
+  for (let d = 0; d < actionDim; d++) {
+    globallyActive[d] = activeMap.some((flags) => flags[d]);
+  }
+
+  // Aggregated velocity stats: pool deltas from all episodes, normalized by motor range
+  const shortName = (k: string) => {
+    const p = k.split(SERIES_NAME_DELIMITER);
+    return p.length > 1 ? p[p.length - 1] : k;
+  };
+
+  const aggVelocity: AggVelocityStat[] = (() => {
+    const binCount = 30;
+    const results: AggVelocityStat[] = [];
+    for (let d = 0; d < actionDim; d++) {
+      const motorRange = motorRanges[d];
+      const inactive = !globallyActive[d];
+      // Collect all deltas (unfiltered) for histogram display
+      const allDeltas: number[] = [];
+      // Collect only deltas from active episodes for stats
+      const activeDeltas: number[] = [];
+      for (let ei = 0; ei < episodeActions.length; ei++) {
+        const ep = episodeActions[ei].actions;
+        for (let t = 1; t < ep.length; t++) {
+          const delta = (ep[t][d] ?? 0) - (ep[t - 1][d] ?? 0);
+          allDeltas.push(delta);
+          if (activeMap[ei][d]) activeDeltas.push(delta);
+        }
+      }
+      const deltas = activeDeltas.length > 0 ? activeDeltas : allDeltas;
+      const nUnique = motorUniqueCount[d];
+      const discrete = nUnique <= DISCRETE_THRESHOLD;
+      if (deltas.length === 0) {
+        results.push({
+          name: shortName(actionNames[d]),
+          std: 0,
+          maxAbs: 0,
+          bins: new Array(binCount).fill(0),
+          lo: 0,
+          hi: 0,
+          motorRange,
+          inactive,
+          discrete,
+        });
+        continue;
+      }
+      let sum = 0,
+        maxAbsRaw = 0,
+        loRaw = Infinity,
+        hiRaw = -Infinity;
+      for (const v of deltas) {
+        sum += v;
+        const a = Math.abs(v);
+        if (a > maxAbsRaw) maxAbsRaw = a;
+        if (v < loRaw) loRaw = v;
+        if (v > hiRaw) hiRaw = v;
+      }
+      const mean = sum / deltas.length;
+      let varSum = 0;
+      for (const v of deltas) varSum += (v - mean) ** 2;
+      const rawStd = Math.sqrt(varSum / deltas.length);
+      const std = rawStd / motorRange;
+      const maxAbs = maxAbsRaw / motorRange;
+      const lo = loRaw / motorRange;
+      const hi = hiRaw / motorRange;
+      const range = hi - lo || 1;
+      const binW = range / binCount;
+      const bins = new Array(binCount).fill(0);
+      for (const v of deltas) {
+        const normV = v / motorRange;
+        let b = Math.floor((normV - lo) / binW);
+        if (b >= binCount) b = binCount - 1;
+        bins[b]++;
+      }
+      results.push({
+        name: shortName(actionNames[d]),
+        std,
+        maxAbs,
+        bins,
+        lo,
+        hi,
+        motorRange,
+        inactive,
+        discrete,
+      });
+    }
+    return results;
+  })();
+
+  // Aggregated autocorrelation: average per-episode ACFs
+  const aggAutocorrelation: AggAutocorrelation | null = (() => {
+    const maxLag = Math.min(
+      100,
+      Math.floor(
+        episodeActions.reduce(
+          (min, e) => Math.min(min, e.actions.length),
+          Infinity,
+        ) / 2,
+      ),
+    );
+    if (maxLag < 2) return null;
+
+    const avgAcf: number[][] = Array.from({ length: actionDim }, () =>
+      new Array(maxLag).fill(0),
+    );
+    let epCount = 0;
+
+    for (const { actions: ep } of episodeActions) {
+      if (ep.length < maxLag * 2) continue;
+      epCount++;
+      for (let d = 0; d < actionDim; d++) {
+        const vals = ep.map((row) => row[d] ?? 0);
+        const n = vals.length;
+        const m = vals.reduce((a, b) => a + b, 0) / n;
+        const centered = vals.map((v) => v - m);
+        const vari = centered.reduce((a, v) => a + v * v, 0);
+        if (vari === 0) continue;
+        for (let lag = 1; lag <= maxLag; lag++) {
+          let s = 0;
+          for (let t = 0; t < n - lag; t++)
+            s += centered[t] * centered[t + lag];
+          avgAcf[d][lag - 1] += s / vari;
+        }
+      }
+    }
+
+    if (epCount === 0) return null;
+    for (let d = 0; d < actionDim; d++)
+      for (let l = 0; l < maxLag; l++) avgAcf[d][l] /= epCount;
+
+    const shortKeys = actionNames.map(shortName);
+    const chartData = Array.from({ length: maxLag }, (_, lag) => {
+      const row: Record<string, number> = {
+        lag: lag + 1,
+        time: (lag + 1) / fps,
+      };
+      shortKeys.forEach((k, d) => {
+        row[k] = avgAcf[d][lag];
+      });
+      return row;
+    });
+
+    // Suggested chunk: median lag where ACF drops below 0.5
+    const lags = avgAcf
+      .map((acf) => {
+        const i = acf.findIndex((v) => v < 0.5);
+        return i >= 0 ? i + 1 : null;
+      })
+      .filter(Boolean) as number[];
+    const suggestedChunk =
+      lags.length > 0
+        ? lags.sort((a, b) => a - b)[Math.floor(lags.length / 2)]
+        : null;
+
+    return { chartData, suggestedChunk, shortKeys };
+  })();
+
+  // Per-episode jerkiness: mean |Δa| across dimensions active in that episode, normalized by motor range
+  const jerkyEpisodes: JerkyEpisode[] = episodeActions
+    .map(({ index, actions: ep }, ei) => {
+      let sum = 0,
+        count = 0;
+      for (let t = 1; t < ep.length; t++) {
+        for (let d = 0; d < actionDim; d++) {
+          if (!activeMap[ei][d]) continue; // skip motors inactive in this episode
+          sum +=
+            Math.abs((ep[t][d] ?? 0) - (ep[t - 1][d] ?? 0)) / motorRanges[d];
+          count++;
+        }
+      }
+      return { episodeIndex: index, meanAbsDelta: count > 0 ? sum / count : 0 };
+    })
+    .sort((a, b) => b.meanAbsDelta - a.meanAbsDelta);
+
+  // Speed distribution: all episode movement scores (not just lowest 10)
+  const speedDistribution: SpeedDistEntry[] = movementScores.map((s) => ({
+    episodeIndex: s.episodeIndex,
+    speed: s.totalMovement,
+  }));
+
+  // Aggregated state-action alignment across episodes
+  const aggAlignment: AggAlignment | null = (() => {
+    if (!stateKey || stateDim === 0) return null;
+
+    let sNms: unknown = stateEntry![1].names;
+    while (typeof sNms === "object" && sNms !== null && !Array.isArray(sNms))
+      sNms = Object.values(sNms)[0];
+    const stateNames = Array.isArray(sNms)
+      ? (sNms as string[])
+      : Array.from({ length: stateDim }, (_, i) => `${i}`);
+    const actionSuffixes = actionNames.map((n) => {
+      const p = n.split(SERIES_NAME_DELIMITER);
+      return p[p.length - 1];
+    });
+
+    // Match pairs by suffix, fall back to index
+    const pairs: [number, number][] = [];
+    for (let ai = 0; ai < actionDim; ai++) {
+      const si = stateNames.findIndex((s) => s === actionSuffixes[ai]);
+      if (si >= 0) pairs.push([ai, si]);
+    }
+    if (pairs.length === 0) {
+      const count = Math.min(actionDim, stateDim);
+      for (let i = 0; i < count; i++) pairs.push([i, i]);
+    }
+    if (pairs.length === 0) return null;
+
+    const maxLag = 30;
+    const numLags = 2 * maxLag + 1;
+    const corrSums = pairs.map(() => new Float64Array(numLags));
+    const corrCounts = pairs.map(() => new Uint32Array(numLags));
+
+    for (let ei = 0; ei < episodeActions.length; ei++) {
+      const states = episodeStates[ei];
+      if (!states) continue;
+      const { actions } = episodeActions[ei];
+      const n = Math.min(actions.length, states.length);
+      if (n < 10) continue;
+
+      for (let pi = 0; pi < pairs.length; pi++) {
+        const [ai, si] = pairs[pi];
+        const aVals = actions.slice(0, n).map((r) => r[ai] ?? 0);
+        const sDeltas = Array.from(
+          { length: n - 1 },
+          (_, t) => (states[t + 1][si] ?? 0) - (states[t][si] ?? 0),
+        );
+        const effN = Math.min(aVals.length, sDeltas.length);
+        const aM = aVals.slice(0, effN).reduce((a, b) => a + b, 0) / effN;
+        const sM = sDeltas.slice(0, effN).reduce((a, b) => a + b, 0) / effN;
+
+        for (let li = 0; li < numLags; li++) {
+          const lag = -maxLag + li;
+          let sum = 0,
+            aV = 0,
+            sV = 0;
+          for (let t = 0; t < effN; t++) {
+            const sIdx = t + lag;
+            if (sIdx < 0 || sIdx >= sDeltas.length) continue;
+            const a = aVals[t] - aM,
+              s = sDeltas[sIdx] - sM;
+            sum += a * s;
+            aV += a * a;
+            sV += s * s;
+          }
+          const d = Math.sqrt(aV * sV);
+          if (d > 0) {
+            corrSums[pi][li] += sum / d;
+            corrCounts[pi][li]++;
+          }
+        }
+      }
+    }
+
+    const avgCorrs = pairs.map((_, pi) =>
+      Array.from({ length: numLags }, (_, li) =>
+        corrCounts[pi][li] > 0 ? corrSums[pi][li] / corrCounts[pi][li] : 0,
+      ),
+    );
+
+    const ccData = Array.from({ length: numLags }, (_, li) => {
+      const lag = -maxLag + li;
+      const vals = avgCorrs.map((pc) => pc[li]);
+      return {
+        lag,
+        max: Math.max(...vals),
+        mean: vals.reduce((a, b) => a + b, 0) / vals.length,
+        min: Math.min(...vals),
+      };
+    });
+
+    let meanPeakLag = 0,
+      meanPeakCorr = -Infinity;
+    let maxPeakLag = 0,
+      maxPeakCorr = -Infinity;
+    let minPeakLag = 0,
+      minPeakCorr = -Infinity;
+    for (const row of ccData) {
+      if (row.max > maxPeakCorr) {
+        maxPeakCorr = row.max;
+        maxPeakLag = row.lag;
+      }
+      if (row.mean > meanPeakCorr) {
+        meanPeakCorr = row.mean;
+        meanPeakLag = row.lag;
+      }
+      if (row.min > minPeakCorr) {
+        minPeakCorr = row.min;
+        minPeakLag = row.lag;
+      }
+    }
+
+    const perPairPeakLags = avgCorrs.map((pc) => {
+      let best = -Infinity,
+        bestLag = 0;
+      for (let li = 0; li < pc.length; li++) {
+        if (pc[li] > best) {
+          best = pc[li];
+          bestLag = -maxLag + li;
+        }
+      }
+      return bestLag;
+    });
+
+    return {
+      ccData,
+      meanPeakLag,
+      meanPeakCorr,
+      maxPeakLag,
+      maxPeakCorr,
+      minPeakLag,
+      minPeakCorr,
+      lagRangeMin: Math.min(...perPairPeakLags),
+      lagRangeMax: Math.max(...perPairPeakLags),
+      numPairs: pairs.length,
+    };
+  })();
+
+  return {
+    actionNames,
+    timeBins,
+    variance,
+    numEpisodes: episodeActions.length,
+    lowMovementEpisodes,
+    aggVelocity,
+    aggAutocorrelation,
+    speedDistribution,
+    jerkyEpisodes,
+    aggAlignment,
+  };
+}
+
+// Load only flatChartData for a specific episode (used by URDF viewer episode switching)
+export async function loadEpisodeFlatChartData(
+  repoId: string,
+  version: string,
+  info: DatasetMetadata,
+  episodeId: number,
+): Promise<Record<string, number>[]> {
+  const episodeMetadata = await loadEpisodeMetadataV3Simple(
+    repoId,
+    version,
+    episodeId,
+  );
+  const { flatChartData } = await loadEpisodeDataV3(
+    repoId,
+    version,
+    info,
+    episodeMetadata,
+  );
+  return flatChartData;
+}
+
 // Safe wrapper for UI error display
 export async function getEpisodeDataSafe(
   org: string,
@@ -993,10 +2062,8 @@ export async function getEpisodeDataSafe(
   try {
     const data = await getEpisodeData(org, dataset, episodeId);
     return { data };
-  } catch (err) {
-    // Only expose the error message, not stack or sensitive info
-    const errorMessage =
-      err instanceof Error ? err.message : String(err) || "Unknown error";
-    return { error: errorMessage };
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : String(err);
+    return { error: message || "Unknown error" };
   }
 }

src/app/[org]/[dataset]/[episode]/page.tsx

@@ -27,7 +27,7 @@ export default async function EpisodePage({
   const { data, error } = await getEpisodeDataSafe(org, dataset, episodeNumber);
   return (
     <Suspense fallback={null}>
-      <EpisodeViewer data={data} error={error} />
+      <EpisodeViewer data={data} error={error} org={org} dataset={dataset} />
     </Suspense>
   );
 }

src/app/explore/page.tsx

@@ -2,7 +2,7 @@ import React from "react";
 import ExploreGrid from "./explore-grid";
 import { fetchJson, formatStringWithVars } from "@/utils/parquetUtils";
 import { getDatasetVersion, buildVersionedUrl } from "@/utils/versionUtils";
-import type { DatasetMetadata } from "@/types";
+import type { DatasetMetadata } from "@/utils/parquetUtils";
 
 export default async function ExplorePage({
   searchParams,
@@ -10,7 +10,7 @@ export default async function ExplorePage({
   searchParams: Promise<{ p?: string }>;
 }) {
   const params = await searchParams;
-  let datasets: any[] = [];
+  let datasets: { id: string }[] = [];
   let currentPage = 1;
   let totalPages = 1;
   try {
@@ -40,7 +40,7 @@ export default async function ExplorePage({
   // Fetch episode 0 data for each dataset
   const datasetWithVideos = (
     await Promise.all(
-      datasets.map(async (ds: any) => {
+      datasets.map(async (ds) => {
         try {
           const [org, dataset] = ds.id.split("/");
           const repoId = `${org}/${dataset}`;