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{
  "codebase_version": "v3.0",
  "robot_type": "stackcube",
  "control_mode": "pd_ee_delta_pos",
  "action_rotation_6d": false,
  "observation_rotation_6d": false,
  "total_episodes": 100,
  "total_frames": 10843,
  "total_tasks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "splits": {
    "train": "0:100"
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
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      ],
      "names": [
        "action_0",
        "action_1",
        "action_2",
        "action_3"
      ],
      "fps": 30.0
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
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      ],
      "names": [
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        "qpos_1",
        "qpos_2",
        "qpos_3",
        "qpos_4",
        "qpos_5",
        "qpos_6",
        "qpos_7",
        "qpos_8",
        "tcp_pose_0",
        "tcp_pose_1",
        "tcp_pose_2",
        "tcp_pose_3",
        "tcp_pose_4",
        "tcp_pose_5",
        "tcp_pose_6"
      ],
      "fps": 30.0
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
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      ],
      "names": null,
      "fps": 30.0
    },
    "frame_index": {
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      ],
      "names": null,
      "fps": 30.0
    },
    "episode_index": {
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      ],
      "names": null,
      "fps": 30.0
    },
    "index": {
      "dtype": "int64",
      "shape": [
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      ],
      "names": null,
      "fps": 30.0
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
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      ],
      "names": null,
      "fps": 30.0
    },
    "task": {
      "dtype": "string",
      "shape": [
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      ],
      "names": null,
      "fps": 30.0
    },
    "observation.images.base_camera": {
      "dtype": "video",
      "shape": [
        128,
        128,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 30.0,
        "video.height": 128,
        "video.width": 128,
        "video.channels": 3,
        "video.codec": "mp4v",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.hand_camera": {
      "dtype": "video",
      "shape": [
        128,
        128,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 30.0,
        "video.height": 128,
        "video.width": 128,
        "video.channels": 3,
        "video.codec": "mp4v",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.masks.base_camera": {
      "dtype": "image",
      "shape": [
        128,
        128,
        1
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "image.height": 128,
        "image.width": 128,
        "image.channels": 1,
        "mask.storage": "episode_npz"
      }
    },
    "observation.masks.hand_camera": {
      "dtype": "image",
      "shape": [
        128,
        128,
        1
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "image.height": 128,
        "image.width": 128,
        "image.channels": 1,
        "mask.storage": "episode_npz"
      }
    }
  },
  "mask_path": "{image_key}/episode_{episode_index:06d}.npz"
}