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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Grasp a card and use it to clean the desk"], "length": 100}

meta/episodes_stats.jsonl

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meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "koch",
+    "total_episodes": 1,
+    "total_frames": 100,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
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+            "shape": [
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+            "names": [
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+                "main_shoulder_lift",
+                "main_elbow_flex",
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+                "main_gripper"
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+            "names": [
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+            "info": {
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+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Grasp a card and use it to clean the desk"}

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

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