Repack all zarr stores with zarr v3 sharding (12k chunk files -> ~290)

.gitattributes

@@ -98,3 +98,5 @@ processed/single_cube/processed_joints_all2.zarr/data/state_ee_full/c/0/0 filter
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+raw/single_cube/teleop/2026-03-20_21-33-00/so100_transfer_cube_teleop.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,28 @@
+# Datasets
+
+The recorded SO-100 teleop data is **not stored in git**. It lives on the
+Hugging Face Hub:
+
+**https://huggingface.co/datasets/PrajnaYang/World_model_sim**
+
+## Download
+
+```bash
+pip install "huggingface_hub[cli]"
+# fetch everything into ./datasets/
+hf download PrajnaYang/World_model_sim --repo-type dataset --local-dir datasets
+```
+
+## Layout
+
+```
+datasets/
+├── raw/          recorded teleop episodes (per task)
+│   ├── single_cube/{teleop,dagger}
+│   └── multi_cube/teleop
+└── processed/    zarr stores consumed by the training scripts
+    ├── single_cube/*.zarr
+    └── multi_cube/*.zarr
+```
+
+After downloading, `python scripts/prepare_data.py` verifies the data + sim.

processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/zarr.json

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