| { | |
| "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 | |
| } |