{
  "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"
}