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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 toy banana and put it in the box."], "length": 50}

meta/episodes_stats.jsonl

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meta/info.json

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+{
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+    "robot_type": "koch",
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+    "total_videos": 2,
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+    "splits": {
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+    "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",
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+            "names": [
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+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+            "names": [
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+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Grasp a toy banana and put it in the box."}

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

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+size 457604

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

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