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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index":0,"tasks":["test"],"length":39}

meta/episodes_stats.jsonl

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+{"episode_index":0,"stats":{"observation.images.cam_zed_left":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.45920348]],[[0.45787698]],[[0.4519088]]],"std":[[[0.28241047]],[[0.2532665]],[[0.26597172]]],"count":[11980800]},"observation.images.cam_zed_right":{"min":[[[0.0]],[[0.0]],[[0.0]]],"max":[[[1.0]],[[1.0]],[[1.0]]],"mean":[[[0.4193541]],[[0.41668883]],[[0.4044682]]],"std":[[[0.2859127]],[[0.26124266]],[[0.2652422]]],"count":[11980800]},"observation.state":{"min":[0.4480112,-0.06797421,1.1741132],"max":[0.5235174,0.06662591,1.2798741],"mean":[0.49631158,-7.6793897E-4,1.2205828],"std":[0.02581751,0.04880766,0.039093006],"count":[39]},"action":{"min":[0.43161824,-0.0659218,1.1484277],"max":[0.5165904,0.08052194,1.2591976],"mean":[0.49282095,0.014598684,1.1959971],"std":[0.026850753,0.051289186,0.039998848],"count":[39]},"episode_index":{"min":[0],"max":[0],"mean":[0.0],"std":[0.0],"count":[39]},"frame_index":{"min":[0],"max":[38],"mean":[19.0],"std":[11.254628],"count":[39]},"timestamp":{"min":[0.0],"max":[1.2666667],"mean":[0.6333333],"std":[0.37515435],"count":[39]},"next.done":{"min":[false],"max":[false],"mean":[0.0],"std":[0.0],"count":[39]},"index":{"min":[0],"max":[76],"mean":[38.0],"std":[22.509256],"count":[39]},"task_index":{"min":[0],"max":[0],"mean":[0.0],"std":[0.0],"count":[39]}}}

meta/info.json

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+{
+  "codebase_version" : "v2.1",
+  "robot_type" : "nadia",
+  "total_episodes" : 1,
+  "total_frames" : 39,
+  "total_tasks" : 1,
+  "total_videos" : 2,
+  "total_chunks" : 1,
+  "chunks_size" : 1000,
+  "fps" : 30.0,
+  "splits" : {
+    "train" : "0:1"
+  },
+  "data_path" : "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path" : "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features" : {
+    "observation.images.cam_zed_left" : {
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+      "shape" : [ 480, 640, 3 ],
+      "names" : [ "height", "width", "channel" ],
+      "video_info" : {
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+        "video.codec" : "mpeg4",
+        "video.pix_fmt" : "yuv420p",
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+        "has_audio" : false
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+      "names" : [ "height", "width", "channel" ],
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+      "names" : {
+        "motors" : [ "right_gripper_x", "right_gripper_y", "right_gripper_z" ]
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+      "names" : {
+        "motors" : [ "right_gripper_x", "right_gripper_y", "right_gripper_z" ]
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+}

meta/tasks.jsonl

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

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

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

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