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data/chunk-000/episode_000000.parquet

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data/chunk-000/episode_000001.parquet

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meta/info.json

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 {
     "codebase_version": "v2.1",
-    "robot_type": "panda",
-    "total_episodes": 1693,
-    "total_frames": 273465,
-    "total_tasks": 40,
-    "total_videos": 0,
-    "total_chunks": 2,
+    "robot_type": "a2d",
+    "total_episodes": 2,
+    "total_frames": 2083,
+    "total_tasks": 1,
+    "total_videos": 6,
+    "total_chunks": 1,
     "chunks_size": 1000,
-    "fps": 10,
+    "fps": 30,
     "splits": {
-        "train": "0:1693"
+        "train": "0:2"
     },
     "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": {
-        "image": {
-            "dtype": "image",
+        "observation.images.head_color": {
+            "dtype": "video",
             "shape": [
-                256,
-                256,
+                720,
+                1280,
                 3
             ],
             "names": [
                 "height",
                 "width",
                 "channel"
-            ]
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
         },
-        "wrist_image": {
-            "dtype": "image",
+        "observation.images.hand_left_color": {
+            "dtype": "video",
             "shape": [
-                256,
-                256,
+                480,
+                848,
                 3
             ],
             "names": [
                 "height",
                 "width",
                 "channel"
-            ]
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+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
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-        "state": {
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+        "observation.images.hand_right_color": {
+            "dtype": "video",
             "shape": [
-                8
+                480,
+                848,
+                3
             ],
             "names": [
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-            ]
+                "height",
+                "width",
+                "channel"
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+                "video.fps": 30.0,
+                "video.codec": "av1",
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+                "video.is_depth_map": false,
+                "has_audio": false
+            }
         },
-        "actions": {
+        "observation.state": {
             "dtype": "float32",
+            "name": {
+                "left_arm_joint": [
+                    "position_1",
+                    "position_2",
+                    "position_3",
+                    "position_4",
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+                "left_gripper": [
+                    "range"
+                ],
+                "right_gripper": [
+                    "range"
+                ],
+                "head": [
+                    "yaw",
+                    "pitch"
+                ],
+                "waist": [
+                    "pitch",
+                    "lift"
+                ]
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             "shape": [
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-            "names": [
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             "dtype": "float32",
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 }

meta/tasks.jsonl

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-{"task_index": 0, "task": "put the white mug on the left plate and put the yellow and white mug on the right plate"}
-{"task_index": 1, "task": "put the white mug on the plate and put the chocolate pudding to the right of the plate"}
-{"task_index": 2, "task": "put the yellow and white mug in the microwave and close it"}
-{"task_index": 3, "task": "turn on the stove and put the moka pot on it"}
-{"task_index": 4, "task": "put both the alphabet soup and the cream cheese box in the basket"}
-{"task_index": 5, "task": "put both the alphabet soup and the tomato sauce in the basket"}
-{"task_index": 6, "task": "put both moka pots on the stove"}
-{"task_index": 7, "task": "put both the cream cheese box and the butter in the basket"}
-{"task_index": 8, "task": "put the black bowl in the bottom drawer of the cabinet and close it"}
-{"task_index": 9, "task": "pick up the book and place it in the back compartment of the caddy"}
-{"task_index": 10, "task": "put the bowl on the plate"}
-{"task_index": 11, "task": "put the wine bottle on the rack"}
-{"task_index": 12, "task": "open the top drawer and put the bowl inside"}
-{"task_index": 13, "task": "put the cream cheese in the bowl"}
-{"task_index": 14, "task": "put the wine bottle on top of the cabinet"}
-{"task_index": 15, "task": "push the plate to the front of the stove"}
-{"task_index": 16, "task": "turn on the stove"}
-{"task_index": 17, "task": "put the bowl on the stove"}
-{"task_index": 18, "task": "put the bowl on top of the cabinet"}
-{"task_index": 19, "task": "open the middle drawer of the cabinet"}
-{"task_index": 20, "task": "pick up the orange juice and place it in the basket"}
-{"task_index": 21, "task": "pick up the ketchup and place it in the basket"}
-{"task_index": 22, "task": "pick up the cream cheese and place it in the basket"}
-{"task_index": 23, "task": "pick up the bbq sauce and place it in the basket"}
-{"task_index": 24, "task": "pick up the alphabet soup and place it in the basket"}
-{"task_index": 25, "task": "pick up the milk and place it in the basket"}
-{"task_index": 26, "task": "pick up the salad dressing and place it in the basket"}
-{"task_index": 27, "task": "pick up the butter and place it in the basket"}
-{"task_index": 28, "task": "pick up the tomato sauce and place it in the basket"}
-{"task_index": 29, "task": "pick up the chocolate pudding and place it in the basket"}
-{"task_index": 30, "task": "pick up the black bowl next to the cookie box and place it on the plate"}
-{"task_index": 31, "task": "pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"}
-{"task_index": 32, "task": "pick up the black bowl on the ramekin and place it on the plate"}
-{"task_index": 33, "task": "pick up the black bowl on the stove and place it on the plate"}
-{"task_index": 34, "task": "pick up the black bowl between the plate and the ramekin and place it on the plate"}
-{"task_index": 35, "task": "pick up the black bowl on the cookie box and place it on the plate"}
-{"task_index": 36, "task": "pick up the black bowl next to the plate and place it on the plate"}
-{"task_index": 37, "task": "pick up the black bowl next to the ramekin and place it on the plate"}
-{"task_index": 38, "task": "pick up the black bowl from table center and place it on the plate"}
-{"task_index": 39, "task": "pick up the black bowl on the wooden cabinet and place it on the plate"}
+{"task_index": 0, "task": "Stamp the seal "}
+{"task_index": 0, "task": "Stamp the seal "}
+{"task_index": 0, "task": "Stamp the seal "}

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

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