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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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meta/episodes_stats.jsonl

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meta/info.json

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-{
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-                "right_arm_joint_2",
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-                "left_arm_joint_3",
-                "left_arm_joint_4",
-                "left_arm_joint_5",
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-                "left_arm_joint_7",
-                "right_arm_joint_1",
-                "right_arm_joint_2",
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+{
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "left_arm_joint_6",
+                "left_arm_joint_7",
+                "right_arm_joint_1",
+                "right_arm_joint_2",
+                "right_arm_joint_3",
+                "right_arm_joint_4",
+                "right_arm_joint_5",
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+                "left_arm_joint_5",
+                "left_arm_joint_6",
+                "left_arm_joint_7",
+                "right_arm_joint_1",
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+                "video.fps": 20.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.camera_2": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 20.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
 }

meta/tasks.jsonl

@@ -1,3 +1 @@
-{"task_index": 0, "task": "Grasp a red bottle."}
-{"task_index": 1, "task": "Grasp a blue bottle."}
-{"task_index": 2, "task": "Grasp a green bottle."}
+{"task_index": 0, "task": "Grasp a green bottle."}

videos/chunk-000/observation.images.camera_1/episode_000000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ca8ab40db1126934298fb54ff15695f6f0433d6831650a8950261ec6cd130e43
-size 14375
+oid sha256:e891777fed863eefddfa1a9750245fa8acb44160e3b3cba0fbdce4e36a0b6806
+size 25618

videos/chunk-000/observation.images.camera_2/episode_000000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ca8ab40db1126934298fb54ff15695f6f0433d6831650a8950261ec6cd130e43
-size 14375
+oid sha256:cee10c78c1f3d063b5dc3838153e1dad8337fd8769c0558531c2972f8735a453
+size 10435