{
  "codebase_version": "v2.1",
  "robot_type": "h1_humanoid",
  "fps": 50,
  "total_episodes": 35,
  "total_frames": 87135,
  "chunks_size": 35,
  "total_chunks": 1,
  "data_path": "data/chunk-{episode_chunk:03d}/file-{episode_index:03d}.parquet",
  "features": {
    "observation.qpos": {
      "dtype": "float32",
      "shape": [
        30
      ],
      "description": "Full joint positions (29 dims)",
      "names": [
        "left_hip_yaw",
        "left_hip_roll",
        "left_hip_pitch",
        "left_knee",
        "left_ankle",
        "right_hip_yaw",
        "right_hip_roll",
        "right_hip_pitch",
        "right_knee",
        "right_ankle",
        "torso",
        "left_shoulder_pitch",
        "left_shoulder_roll",
        "left_shoulder_yaw",
        "left_elbow",
        "left_wrist",
        "right_shoulder_pitch",
        "right_shoulder_roll",
        "right_shoulder_yaw",
        "right_elbow",
        "right_wrist",
        "joint_22",
        "joint_23",
        "joint_24",
        "joint_25",
        "joint_26",
        "joint_27",
        "joint_28"
      ]
    },
    "observation.qvel": {
      "dtype": "float32",
      "shape": [
        30
      ],
      "description": "Full joint velocities (29 dims)",
      "names": [
        "left_hip_yaw",
        "left_hip_roll",
        "left_hip_pitch",
        "left_knee",
        "left_ankle",
        "right_hip_yaw",
        "right_hip_roll",
        "right_hip_pitch",
        "right_knee",
        "right_ankle",
        "torso",
        "left_shoulder_pitch",
        "left_shoulder_roll",
        "left_shoulder_yaw",
        "left_elbow",
        "left_wrist",
        "right_shoulder_pitch",
        "right_shoulder_roll",
        "right_shoulder_yaw",
        "right_elbow",
        "right_wrist",
        "joint_22",
        "joint_23",
        "joint_24",
        "joint_25",
        "joint_26",
        "joint_27",
        "joint_28"
      ]
    },
    "observation.gripper": {
      "dtype": "float32",
      "shape": [
        2
      ],
      "description": "Gripper states (2 dims)",
      "names": [
        "left_gripper",
        "right_gripper"
      ]
    },
    "observation.floating_base": {
      "dtype": "float32",
      "shape": [
        4
      ],
      "description": "Floating base position (4 dims with 4-DOF)",
      "names": [
        "pelvis_x",
        "pelvis_y",
        "pelvis_z",
        "pelvis_rz"
      ]
    },
    "observation.floating_base_actions": {
      "dtype": "float32",
      "shape": [
        4
      ],
      "description": "Accumulated floating base actions since reset (4 dims with 4-DOF)",
      "names": [
        "acc_pelvis_x",
        "acc_pelvis_y",
        "acc_pelvis_z",
        "acc_pelvis_rz"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "description": "Policy state input (16 dims, matches action structure)",
      "names": [
        "floating_base_x",
        "floating_base_y",
        "floating_base_z",
        "floating_base_rz",
        "left_shoulder_pitch",
        "left_shoulder_roll",
        "left_shoulder_yaw",
        "left_elbow",
        "left_wrist",
        "right_shoulder_pitch",
        "right_shoulder_roll",
        "right_shoulder_yaw",
        "right_elbow",
        "right_wrist",
        "left_gripper",
        "right_gripper"
      ],
      "structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]"
    },
    "observation.state_arm": {
      "dtype": "float32",
      "shape": [
        12
      ],
      "description": "Arm-only state (12 dims, no floating base)",
      "names": [
        "left_shoulder_pitch",
        "left_shoulder_roll",
        "left_shoulder_yaw",
        "left_elbow",
        "left_wrist",
        "right_shoulder_pitch",
        "right_shoulder_roll",
        "right_shoulder_yaw",
        "right_elbow",
        "right_wrist",
        "left_gripper",
        "right_gripper"
      ],
      "structure": "[left_arm(5), right_arm(5), grippers(2)]"
    },
    "action": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "description": "Full action (16 dims)",
      "names": [
        "floating_base_x",
        "floating_base_y",
        "floating_base_z",
        "floating_base_rz",
        "left_shoulder_pitch",
        "left_shoulder_roll",
        "left_shoulder_yaw",
        "left_elbow",
        "left_wrist",
        "right_shoulder_pitch",
        "right_shoulder_roll",
        "right_shoulder_yaw",
        "right_elbow",
        "right_wrist",
        "left_gripper",
        "right_gripper"
      ],
      "structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]"
    },
    "action.floating_base": {
      "dtype": "float32",
      "shape": [
        4
      ],
      "description": "Floating base action (4 dims)",
      "names": [
        "floating_base_x",
        "floating_base_y",
        "floating_base_z",
        "floating_base_rz"
      ]
    },
    "action.arms": {
      "dtype": "float32",
      "shape": [
        12
      ],
      "description": "Arms + grippers action (12 dims)",
      "names": [
        "left_shoulder_pitch",
        "left_shoulder_roll",
        "left_shoulder_yaw",
        "left_elbow",
        "left_wrist",
        "right_shoulder_pitch",
        "right_shoulder_roll",
        "right_shoulder_yaw",
        "right_elbow",
        "right_wrist",
        "left_gripper",
        "right_gripper"
      ],
      "structure": "[left_arm(5), right_arm(5), grippers(2)]"
    },
    "observation.images.head": {
      "dtype": "image",
      "shape": [
        256,
        256,
        3
      ],
      "description": "head camera RGB image"
    },
    "observation.images.left_wrist": {
      "dtype": "image",
      "shape": [
        256,
        256,
        3
      ],
      "description": "left_wrist camera RGB image"
    },
    "observation.images.right_wrist": {
      "dtype": "image",
      "shape": [
        256,
        256,
        3
      ],
      "description": "right_wrist camera RGB image"
    }
  },
  "task_name": "StackBlocks",
  "splits": {
    "train": "0:35"
  },
  "dimension_info": {
    "action_total": 16,
    "action_floating_base": 4,
    "action_arms": 12,
    "obs_qpos": 30,
    "obs_qvel": 30,
    "obs_gripper": 2,
    "obs_floating_base": 4,
    "obs_floating_base_actions": 4,
    "state_total": 16,
    "state_arm": 12
  }
}