{
  "codebase_version": "v2.1",
  "robot_type": "unitree_g1",
  "fps": 30.0,
  "total_episodes": 221,
  "total_frames": 99178,
  "total_tasks": 1,
  "total_videos": 200,
  "splits": {
    "train": "0:221"
  },
  "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": [
        41
      ],
      "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",
        "waist_yaw_joint",
        "waist_roll_joint",
        "waist_pitch_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",
        "left_hand_index_joint",
        "left_hand_little_joint",
        "left_hand_middle_joint",
        "left_hand_ring_joint",
        "left_hand_thumb_side_joint",
        "left_hand_thumb_bend_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",
        "right_hand_index_joint",
        "right_hand_little_joint",
        "right_hand_middle_joint",
        "right_hand_ring_joint",
        "right_hand_thumb_side_joint",
        "right_hand_thumb_bend_joint"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        41
      ],
      "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",
        "waist_yaw_joint",
        "waist_roll_joint",
        "waist_pitch_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",
        "left_hand_index_joint",
        "left_hand_little_joint",
        "left_hand_middle_joint",
        "left_hand_ring_joint",
        "left_hand_thumb_side_joint",
        "left_hand_thumb_bend_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",
        "right_hand_index_joint",
        "right_hand_little_joint",
        "right_hand_middle_joint",
        "right_hand_ring_joint",
        "right_hand_thumb_side_joint",
        "right_hand_thumb_bend_joint"
      ]
    },
    "timestamp": {
      "dtype": "float64",
      "shape": [
        1
      ]
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ]
    },
    "observation.images.ego_view": {
      "dtype": "video",
      "shape": [
        null,
        null,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 30.0,
        "video.codec": "libx264"
      }
    }
  },
  "g1_dof_exception": "observation.state/action recorded at 53 DoF (29 body + 24 Inspire hands). Contract's Camera Manifest table lists G1=29 DoF \u2014 pending formal manifest update/sign-off in AI-Teleop-Data-Contract-v1 (owner: Tiffany Gomez)."
}