{ "codebase_version": "v3.0", "robot_type": "Unitree_G1_Inspire", "total_episodes": 301, "total_frames": 281196, "total_tasks": 1, "total_chunks": 1, "chunks_size": 301, "fps": 30.0, "splits": { "train": "0:301" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "features": { "observation.state": { "dtype": "float32", "shape": [ 53 ], "names": [ [ "left_hip_pitch_joint", "left_hip_roll_joint", "left_hip_yaw_joint", "left_knee_joint", "left_ankle_pitch_joint", "left_ankle_roll_joint", "right_hip_pitch_joint", "right_hip_roll_joint", "right_hip_yaw_joint", "right_knee_joint", "right_ankle_pitch_joint", "right_ankle_roll_joint", "torso_joint", "head_joint", "head_yaw_joint", "left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_shoulder_yaw_joint", "left_elbow_joint", "left_wrist_roll_joint", "left_wrist_pitch_joint", "left_wrist_yaw_joint", "right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_shoulder_yaw_joint", "right_elbow_joint", "right_wrist_roll_joint", "right_wrist_pitch_joint", "right_wrist_yaw_joint", "L_thumb_proximal_yaw_joint", "L_thumb_proximal_pitch_joint", "L_thumb_intermediate_joint", "L_thumb_distal_joint", "L_index_proximal_joint", "L_index_intermediate_joint", "L_index_distal_joint", "L_middle_proximal_joint", "L_middle_distal_joint", "L_ring_proximal_joint", "L_ring_distal_joint", "L_pinky_proximal_joint", "R_thumb_proximal_yaw_joint", "R_thumb_proximal_pitch_joint", "R_thumb_intermediate_joint", "R_thumb_distal_joint", "R_index_proximal_joint", "R_index_intermediate_joint", "R_index_distal_joint", "R_middle_proximal_joint", "R_middle_distal_joint", "R_ring_proximal_joint", "R_ring_distal_joint", "R_pinky_proximal_joint" ] ] }, "action": { "dtype": "float32", "shape": [ 53 ], "names": [ [ "left_hip_pitch_joint", "left_hip_roll_joint", "left_hip_yaw_joint", "left_knee_joint", "left_ankle_pitch_joint", "left_ankle_roll_joint", "right_hip_pitch_joint", "right_hip_roll_joint", "right_hip_yaw_joint", "right_knee_joint", "right_ankle_pitch_joint", "right_ankle_roll_joint", "torso_joint", "head_joint", "head_yaw_joint", "left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_shoulder_yaw_joint", "left_elbow_joint", "left_wrist_roll_joint", "left_wrist_pitch_joint", "left_wrist_yaw_joint", "right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_shoulder_yaw_joint", "right_elbow_joint", "right_wrist_roll_joint", "right_wrist_pitch_joint", "right_wrist_yaw_joint", "L_thumb_proximal_yaw_joint", "L_thumb_proximal_pitch_joint", "L_thumb_intermediate_joint", "L_thumb_distal_joint", "L_index_proximal_joint", "L_index_intermediate_joint", "L_index_distal_joint", "L_middle_proximal_joint", "L_middle_distal_joint", "L_ring_proximal_joint", "L_ring_distal_joint", "L_pinky_proximal_joint", "R_thumb_proximal_yaw_joint", "R_thumb_proximal_pitch_joint", "R_thumb_intermediate_joint", "R_thumb_distal_joint", "R_index_proximal_joint", "R_index_intermediate_joint", "R_index_distal_joint", "R_middle_proximal_joint", "R_middle_distal_joint", "R_ring_proximal_joint", "R_ring_distal_joint", "R_pinky_proximal_joint" ] ] }, "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 }, "observation.images.cam_left_high": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 640, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } } }, "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" }