{
    "info": {
        "version": "1.0.0",
        "date": "2026-01-24",
        "author": "unitree",
        "image": {
            "width": 640,
            "height": 480,
            "fps": 30.0
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        "audio": {
            "sample_rate": 16000,
            "channels": 1,
            "format": "PCM",
            "bits": 16
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        "joint_names": {
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                "kLeftShoulderPitch",
                "kLeftShoulderRoll",
                "kLeftShoulderYaw",
                "kLeftElbow",
                "kLeftWristRoll",
                "kLeftWristPitch",
                "kLeftWristyaw"
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            "left_hand": [],
            "right_arm": [
                "kRightShoulderPitch",
                "kRightShoulderRoll",
                "kRightShoulderYaw",
                "kRightElbow",
                "kRightWristRoll",
                "kRightWristPitch",
                "kRightWristyaw"
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            "right_hand": [],
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        "tactile_names": {
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    "text": {
        "goal": "pick up the apple with the right hand and place it on the plate.",
        "desc": "pick up the apple with the right hand and place it on the plate.",
        "steps": "step1: pick up the apple with the right hand and place it on the plate."
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