{
    "codebase_version": "v2.1",
    "robot_type": "G1FloatingBody",
    "total_episodes": 51,
    "total_frames": 48162,
    "total_tasks": 1,
    "total_videos": 51,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:51"
    },
    "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.images.ego_view": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 50,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.eef_state": {
            "dtype": "float64",
            "shape": [
                14
            ]
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ]
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                43
            ]
        },
        "observation.root_orientation": {
            "dtype": "float64",
            "shape": [
                4
            ]
        },
        "observation.projected_gravity": {
            "dtype": "float64",
            "shape": [
                3
            ]
        },
        "annotation.human.task_description": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "action.wbc": {
            "dtype": "float64",
            "shape": [
                43
            ]
        },
        "action.motion_token": {
            "dtype": "float64",
            "shape": [
                64
            ]
        },
        "teleop.left_hand_joints": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "teleop.right_hand_joints": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "teleop.locomotion_mode": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "teleop.facing_direction": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "teleop.stream_mode": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "teleop.vr_3pt_position": {
            "dtype": "float32",
            "shape": [
                9
            ]
        },
        "teleop.vr_3pt_orientation": {
            "dtype": "float32",
            "shape": [
                12
            ]
        },
        "teleop.smpl_joints": {
            "dtype": "float32",
            "shape": [
                72
            ]
        },
        "teleop.smpl_root_quat": {
            "dtype": "float32",
            "shape": [
                4
            ]
        },
        "teleop.wrist_joints": {
            "dtype": "float32",
            "shape": [
                6
            ]
        },
        "teleop.smpl_pose": {
            "dtype": "float32",
            "shape": [
                63
            ]
        },
        "teleop.planner_movement": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "teleop.planner_speed": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "teleop.planner_height": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "teleop.left_trigger": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "teleop.right_trigger": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "teleop.pico_frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ]
        },
        "observation.init_base_quat": {
            "dtype": "float64",
            "shape": [
                4
            ]
        },
        "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
        }
    },
    "collection_info": {
        "backend": "sonic",
        "fixed_task": true,
        "g1_jitter_radius": 0.0,
        "jitter_seed": null,
        "object_jitter_radius": 0.0,
        "pico_source": "real",
        "policy_config": "v1_1/g1/policy.yaml",
        "scene_id": 1,
        "scene_seed": 0,
        "schema_version": 9
    }
}