{
  "codebase_version": "v2.1",
  "robot_type": "yam",
  "total_episodes": 93,
  "total_frames": 114256,
  "total_tasks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:93"
  },
  "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": [
        14
      ],
      "names": [
        "left_joint_0",
        "left_joint_1",
        "left_joint_2",
        "left_joint_3",
        "left_joint_4",
        "left_joint_5",
        "left_gripper",
        "right_joint_0",
        "right_joint_1",
        "right_joint_2",
        "right_joint_3",
        "right_joint_4",
        "right_joint_5",
        "right_gripper"
      ],
      "fps": 30
    },
    "action": {
      "dtype": "float32",
      "shape": [
        14
      ],
      "names": [
        "left_joint_0",
        "left_joint_1",
        "left_joint_2",
        "left_joint_3",
        "left_joint_4",
        "left_joint_5",
        "left_gripper",
        "right_joint_0",
        "right_joint_1",
        "right_joint_2",
        "right_joint_3",
        "right_joint_4",
        "right_joint_5",
        "right_gripper"
      ],
      "fps": 30
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "observation.images.head_camera": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30,
        "video.codec": "hevc",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.left_wrist_camera": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30,
        "video.codec": "hevc",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.right_wrist_camera": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "video_info": {
        "video.fps": 30,
        "video.codec": "hevc",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "phase": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "correction_index": {
      "dtype": "int32",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "intervention": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": [
        "intervention_flag"
      ],
      "fps": 30
    },
    "reward": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": [
        "reward"
      ],
      "fps": 30
    },
    "reward_label": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": [
        "reward_label"
      ],
      "fps": 30
    },
    "value_label": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": [
        "value_label"
      ],
      "fps": 30
    },
    "adv_ind": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": [
        "adv_ind"
      ],
      "fps": 30
    }
  },
  "data_files_size_in_mb": 17.1,
  "video_files_size_in_mb": 300.7,
  "total_chunks": 1
}