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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": {
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"shape": [
1
]
},
"episode_index": {
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]
},
"timestamp": {
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]
},
"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
}