{
    "codebase_version": "v3.0",
    "robot_type": "humanoid",
    "total_episodes": 51,
    "total_frames": 175008,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 24,
    "splits": {
        "train": "0:51"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                55
            ],
            "names": [
                "root_pos_x",
                "root_pos_y",
                "root_pos_z",
                "root_rot_x",
                "root_rot_y",
                "root_rot_z",
                "root_rot_w",
                "dof_pos_left_hip_pitch_joint",
                "dof_pos_left_hip_roll_joint",
                "dof_pos_left_hip_yaw_joint",
                "dof_pos_left_knee_joint",
                "dof_pos_left_ankle_pitch_joint",
                "dof_pos_left_ankle_roll_joint",
                "dof_pos_right_hip_pitch_joint",
                "dof_pos_right_hip_roll_joint",
                "dof_pos_right_hip_yaw_joint",
                "dof_pos_right_knee_joint",
                "dof_pos_right_ankle_pitch_joint",
                "dof_pos_right_ankle_roll_joint",
                "dof_pos_waist_roll_joint",
                "dof_pos_waist_yaw_joint",
                "dof_pos_head_pitch_joint",
                "dof_pos_head_yaw_joint",
                "dof_pos_left_shoulder_pitch_joint",
                "dof_pos_left_shoulder_roll_joint",
                "dof_pos_left_shoulder_yaw_joint",
                "dof_pos_left_elbow_joint",
                "dof_pos_left_wrist_roll_link",
                "dof_pos_right_shoulder_pitch_joint",
                "dof_pos_right_shoulder_roll_joint",
                "dof_pos_right_shoulder_yaw_joint",
                "dof_pos_right_elbow_joint",
                "dof_pos_right_wrist_roll_joint",
                "dof_pos_right_index_proximal_joint",
                "dof_pos_right_index_distal_joint",
                "dof_pos_right_middle_proximal_joint",
                "dof_pos_right_middle_distal_joint",
                "dof_pos_right_pinky_proximal_joint",
                "dof_pos_right_pinky_distal_joint",
                "dof_pos_right_ring_proximal_joint",
                "dof_pos_right_ring_distal_joint",
                "dof_pos_right_thumb_metacarpal_joint",
                "dof_pos_right_thumb_proximal_joint",
                "dof_pos_right_thumb_distal_joint",
                "dof_pos_left_index_proximal_joint",
                "dof_pos_left_index_distal_joint",
                "dof_pos_left_middle_proximal_joint",
                "dof_pos_left_middle_distal_joint",
                "dof_pos_left_pinky_proximal_joint",
                "dof_pos_left_pinky_distal_joint",
                "dof_pos_left_ring_proximal_joint",
                "dof_pos_left_ring_distal_joint",
                "dof_pos_left_thumb_metacarpal_joint",
                "dof_pos_left_thumb_proximal_joint",
                "dof_pos_left_thumb_distal_joint"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                55
            ],
            "names": [
                "action_root_pos_x",
                "action_root_pos_y",
                "action_root_pos_z",
                "action_root_rot_x",
                "action_root_rot_y",
                "action_root_rot_z",
                "action_root_rot_w",
                "action_dof_pos_left_hip_pitch_joint",
                "action_dof_pos_left_hip_roll_joint",
                "action_dof_pos_left_hip_yaw_joint",
                "action_dof_pos_left_knee_joint",
                "action_dof_pos_left_ankle_pitch_joint",
                "action_dof_pos_left_ankle_roll_joint",
                "action_dof_pos_right_hip_pitch_joint",
                "action_dof_pos_right_hip_roll_joint",
                "action_dof_pos_right_hip_yaw_joint",
                "action_dof_pos_right_knee_joint",
                "action_dof_pos_right_ankle_pitch_joint",
                "action_dof_pos_right_ankle_roll_joint",
                "action_dof_pos_waist_roll_joint",
                "action_dof_pos_waist_yaw_joint",
                "action_dof_pos_head_pitch_joint",
                "action_dof_pos_head_yaw_joint",
                "action_dof_pos_left_shoulder_pitch_joint",
                "action_dof_pos_left_shoulder_roll_joint",
                "action_dof_pos_left_shoulder_yaw_joint",
                "action_dof_pos_left_elbow_joint",
                "action_dof_pos_left_wrist_roll_link",
                "action_dof_pos_right_shoulder_pitch_joint",
                "action_dof_pos_right_shoulder_roll_joint",
                "action_dof_pos_right_shoulder_yaw_joint",
                "action_dof_pos_right_elbow_joint",
                "action_dof_pos_right_wrist_roll_joint",
                "action_dof_pos_right_index_proximal_joint",
                "action_dof_pos_right_index_distal_joint",
                "action_dof_pos_right_middle_proximal_joint",
                "action_dof_pos_right_middle_distal_joint",
                "action_dof_pos_right_pinky_proximal_joint",
                "action_dof_pos_right_pinky_distal_joint",
                "action_dof_pos_right_ring_proximal_joint",
                "action_dof_pos_right_ring_distal_joint",
                "action_dof_pos_right_thumb_metacarpal_joint",
                "action_dof_pos_right_thumb_proximal_joint",
                "action_dof_pos_right_thumb_distal_joint",
                "action_dof_pos_left_index_proximal_joint",
                "action_dof_pos_left_index_distal_joint",
                "action_dof_pos_left_middle_proximal_joint",
                "action_dof_pos_left_middle_distal_joint",
                "action_dof_pos_left_pinky_proximal_joint",
                "action_dof_pos_left_pinky_distal_joint",
                "action_dof_pos_left_ring_proximal_joint",
                "action_dof_pos_left_ring_distal_joint",
                "action_dof_pos_left_thumb_metacarpal_joint",
                "action_dof_pos_left_thumb_proximal_joint",
                "action_dof_pos_left_thumb_distal_joint"
            ]
        },
        "observation.images.neck": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channel",
                "height",
                "width"
            ]
        },
        "observation.images.first_person": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channel",
                "height",
                "width"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}