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G1_Clean_Table_Inspire

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G1_Clean_Table_Inspire
File size: 1,485 Bytes
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{
  "codebase_version": "v2.1",
  "robot_type": "unitree_g1_inspire",
  "total_episodes": 200,
  "total_frames": 265701,
  "fps": 30,
  "splits": {
    "train": "0:200"
  },
  "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": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        53
      ],
      "description": "G1 body (29 DOF) + Inspire hands (24 DOF)"
    },
    "action": {
      "dtype": "float32",
      "shape": [
        53
      ],
      "description": "Action: body (29) + hands (24)"
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ]
    },
    "observation.images.cam_left_high": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 30,
        "video.channels": 3
      }
    }
  },
  "conversion_info": {
    "source_hand_type": "gripper",
    "target_hand_type": "inspire",
    "body_dof": 29,
    "hand_dof_per_hand": 12,
    "total_dof": 53
  },
  "total_chunks": 1,
  "chunks_size": 1000,
  "total_videos": 800,
  "total_tasks": 1
}