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{
"dataset_name": "LAFAN1_Retargeting_Dataset",
"version": "1.0.0",
"description": "LAFAN1 Retargeting Dataset for Unitree H1, H1_2, and G1 robots",
"features": {
"root_joint": {"dtype": "float32", "shape": [30, 7]},
"left_hip_pitch_joint": {"dtype": "float32", "shape": [30]},
"left_hip_roll_joint": {"dtype": "float32", "shape": [30]},
"left_hip_yaw_joint": {"dtype": "float32", "shape": [30]},
"left_knee_joint": {"dtype": "float32", "shape": [30]},
"left_ankle_pitch_joint": {"dtype": "float32", "shape": [30]},
"left_ankle_roll_joint": {"dtype": "float32", "shape": [30]},
"right_hip_pitch_joint": {"dtype": "float32", "shape": [30]},
"right_hip_roll_joint": {"dtype": "float32", "shape": [30]},
"right_hip_yaw_joint": {"dtype": "float32", "shape": [30]},
"right_knee_joint": {"dtype": "float32", "shape": [30]},
"right_ankle_pitch_joint": {"dtype": "float32", "shape": [30]},
"right_ankle_roll_joint": {"dtype": "float32", "shape": [30]},
"waist_yaw_joint": {"dtype": "float32", "shape": [30]},
"waist_roll_joint": {"dtype": "float32", "shape": [30]},
"waist_pitch_joint": {"dtype": "float32", "shape": [30]},
"left_shoulder_pitch_joint": {"dtype": "float32", "shape": [30]},
"left_shoulder_roll_joint": {"dtype": "float32", "shape": [30]},
"left_shoulder_yaw_joint": {"dtype": "float32", "shape": [30]},
"left_elbow_joint": {"dtype": "float32", "shape": [30]},
"left_wrist_roll_joint": {"dtype": "float32", "shape": [30]},
"left_wrist_pitch_joint": {"dtype": "float32", "shape": [30]},
"left_wrist_yaw_joint": {"dtype": "float32", "shape": [30]},
"right_shoulder_pitch_joint": {"dtype": "float32", "shape": [30]},
"right_shoulder_roll_joint": {"dtype": "float32", "shape": [30]},
"right_shoulder_yaw_joint": {"dtype": "float32", "shape": [30]},
"right_elbow_joint": {"dtype": "float32", "shape": [30]},
"right_wrist_roll_joint": {"dtype": "float32", "shape": [30]},
"right_wrist_pitch_joint": {"dtype": "float32", "shape": [30]},
"right_wrist_yaw_joint": {"dtype": "float32", "shape": [30]}
},
"codebase_version": "1.0.0"
} |