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{
  "codebase_version": "v3.0",
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  "total_frames": 198927,
  "total_tasks": 3,
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  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 24,
  "splits": {
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  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
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      "names": [
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        "root_rot6_r21",
        "root_rot6_r31",
        "root_rot6_r12",
        "root_rot6_r22",
        "root_rot6_r32",
        "right_hand_pos_x",
        "right_hand_pos_y",
        "right_hand_pos_z",
        "right_hand_rot_roll",
        "right_hand_rot_pitch",
        "right_hand_rot_yaw",
        "dof_pos_right_index_proximal_joint",
        "dof_pos_right_index_distal_joint",
        "dof_pos_right_middle_proximal_joint",
        "dof_pos_right_middle_distal_joint",
        "dof_pos_right_pinky_proximal_joint",
        "dof_pos_right_pinky_distal_joint",
        "dof_pos_right_ring_proximal_joint",
        "dof_pos_right_ring_distal_joint",
        "dof_pos_right_thumb_metacarpal_joint",
        "dof_pos_right_thumb_proximal_joint",
        "dof_pos_right_thumb_distal_joint",
        "left_hand_pos_x",
        "left_hand_pos_y",
        "left_hand_pos_z",
        "left_hand_rot_roll",
        "left_hand_rot_pitch",
        "left_hand_rot_yaw",
        "dof_pos_left_index_proximal_joint",
        "dof_pos_left_index_distal_joint",
        "dof_pos_left_middle_proximal_joint",
        "dof_pos_left_middle_distal_joint",
        "dof_pos_left_pinky_proximal_joint",
        "dof_pos_left_pinky_distal_joint",
        "dof_pos_left_ring_proximal_joint",
        "dof_pos_left_ring_distal_joint",
        "dof_pos_left_thumb_metacarpal_joint",
        "dof_pos_left_thumb_proximal_joint",
        "dof_pos_left_thumb_distal_joint",
        "dof_pos_head_pitch_joint",
        "dof_pos_head_yaw_joint"
      ]
    },
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        "action_root_pos_y",
        "action_root_pos_z",
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        "action_root_rot6_r21",
        "action_root_rot6_r31",
        "action_root_rot6_r12",
        "action_root_rot6_r22",
        "action_root_rot6_r32",
        "action_right_hand_pos_x",
        "action_right_hand_pos_y",
        "action_right_hand_pos_z",
        "action_right_hand_rot_roll",
        "action_right_hand_rot_pitch",
        "action_right_hand_rot_yaw",
        "action_dof_pos_right_index_proximal_joint",
        "action_dof_pos_right_index_distal_joint",
        "action_dof_pos_right_middle_proximal_joint",
        "action_dof_pos_right_middle_distal_joint",
        "action_dof_pos_right_pinky_proximal_joint",
        "action_dof_pos_right_pinky_distal_joint",
        "action_dof_pos_right_ring_proximal_joint",
        "action_dof_pos_right_ring_distal_joint",
        "action_dof_pos_right_thumb_metacarpal_joint",
        "action_dof_pos_right_thumb_proximal_joint",
        "action_dof_pos_right_thumb_distal_joint",
        "action_left_hand_pos_x",
        "action_left_hand_pos_y",
        "action_left_hand_pos_z",
        "action_left_hand_rot_roll",
        "action_left_hand_rot_pitch",
        "action_left_hand_rot_yaw",
        "action_dof_pos_left_index_proximal_joint",
        "action_dof_pos_left_index_distal_joint",
        "action_dof_pos_left_middle_proximal_joint",
        "action_dof_pos_left_middle_distal_joint",
        "action_dof_pos_left_pinky_proximal_joint",
        "action_dof_pos_left_pinky_distal_joint",
        "action_dof_pos_left_ring_proximal_joint",
        "action_dof_pos_left_ring_distal_joint",
        "action_dof_pos_left_thumb_metacarpal_joint",
        "action_dof_pos_left_thumb_proximal_joint",
        "action_dof_pos_left_thumb_distal_joint",
        "action_dof_pos_head_pitch_joint",
        "action_dof_pos_head_yaw_joint"
      ]
    },
    "observation.images.head": {
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        640
      ],
      "names": [
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        "height",
        "width"
      ]
    },
    "observation.images.neck": {
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        640
      ],
      "names": [
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        "width"
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    },
    "language_instruction": {
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    },
    "timestamp": {
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    },
    "frame_index": {
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    "episode_index": {
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    },
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    },
    "task_index": {
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    }
  }
}