{
    "dataset_name": "yam_put_pot",
    "dataset_statistics": {
        "action": {
            "mean": [
                -0.015173129737377167,
                1.543451189994812,
                1.133082389831543,
                -0.0558694563806057,
                0.6457725763320923,
                -0.5875496864318848,
                -0.021243955940008163,
                0.06753560155630112,
                1.1102087497711182,
                0.8317565321922302,
                0.09461621195077896,
                -0.257929265499115,
                0.5121545195579529,
                -0.030231637880206108
            ],
            "std": [
                0.3298890292644501,
                0.5456559062004089,
                0.5075900554656982,
                0.2712640166282654,
                0.30915752053260803,
                0.3027210533618927,
                0.021586410701274872,
                0.35077065229415894,
                0.6703720092773438,
                0.4808303713798523,
                0.23874592781066895,
                0.23757855594158173,
                0.34630391001701355,
                0.02130763977766037
            ],
            "min": [
                -0.7412047386169434,
                -0.00865511130541563,
                0.0,
                -1.046663761138916,
                -0.40741509199142456,
                -1.0804409980773926,
                -0.04749999940395355,
                -0.7349886298179626,
                0.0,
                0.007136230822652578,
                -0.6858564615249634,
                -0.7314445972442627,
                0.001071276143193245,
                -0.04749999940395355
            ],
            "max": [
                0.6183743476867676,
                2.5678763389587402,
                2.3499844074249268,
                0.5196840167045593,
                1.1317461729049683,
                0.2091253399848938,
                0.0,
                0.8751603364944458,
                2.6137733459472656,
                2.2779598236083984,
                0.7786203622817993,
                0.6069523692131042,
                1.3741412162780762,
                0.0
            ]
        },
        "observation.state": {
            "mean": [
                -0.013818399980664253,
                1.544166088104248,
                1.130370020866394,
                -0.05656711757183075,
                0.6349301338195801,
                -0.5931575894355774,
                -0.025394635275006294,
                0.06710214912891388,
                1.1102935075759888,
                0.8288690447807312,
                0.09448688477277756,
                -0.24958844482898712,
                0.5126025676727295,
                -0.03247259184718132
            ],
            "std": [
                0.32885000109672546,
                0.5463258028030396,
                0.5088076591491699,
                0.2705287039279938,
                0.305978000164032,
                0.3003932535648346,
                0.018053976818919182,
                0.3498893082141876,
                0.6711281538009644,
                0.48188886046409607,
                0.2377614974975586,
                0.23437020182609558,
                0.34926721453666687,
                0.018303273245692253
            ],
            "min": [
                -0.7343796491622925,
                -4.4730975901075e-07,
                6.761130407539895e-06,
                -1.0431841611862183,
                -0.3826225697994232,
                -1.0846542119979858,
                -0.047506265342235565,
                -0.7293975949287415,
                -1.4814681890129577e-06,
                0.007136230822652578,
                -0.6750883460044861,
                -0.7151052355766296,
                0.0008750458946451545,
                -0.04750334843993187
            ],
            "max": [
                0.6130767464637756,
                2.5649328231811523,
                2.347870111465454,
                0.5169598460197449,
                1.137446641921997,
                0.18034717440605164,
                -0.0012854357482865453,
                0.8708758354187012,
                2.60896897315979,
                2.2741072177886963,
                0.7735635042190552,
                0.5878152847290039,
                1.3631277084350586,
                -0.003174317767843604
            ]
        },
        "timestamp": {
            "mean": [
                6.50034236907959
            ],
            "std": [
                3.801966905593872
            ],
            "min": [
                0.0
            ],
            "max": [
                15.033333778381348
            ]
        }
    },
    "modalities": {
        "video": {
            "top_rgb": {
                "resolution": [
                    240,
                    320
                ],
                "channels": 3,
                "fps": 30.0,
                "codec": "h264",
                "pixel_format": "yuv420p"
            },
            "left_rgb": {
                "resolution": [
                    240,
                    320
                ],
                "channels": 3,
                "fps": 30.0,
                "codec": "h264",
                "pixel_format": "yuv420p"
            },
            "right_rgb": {
                "resolution": [
                    240,
                    320
                ],
                "channels": 3,
                "fps": 30.0,
                "codec": "h264",
                "pixel_format": "yuv420p"
            }
        },
        "state": {
            "left_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true,
                "joint_names": [
                    "left_joint1.pos",
                    "left_joint2.pos",
                    "left_joint3.pos",
                    "left_joint4.pos",
                    "left_joint5.pos",
                    "left_joint6.pos"
                ]
            },
            "left_gripper": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    1
                ],
                "continuous": true,
                "joint_names": [
                    "left_finger.pos"
                ]
            },
            "right_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true,
                "joint_names": [
                    "right_joint1.pos",
                    "right_joint2.pos",
                    "right_joint3.pos",
                    "right_joint4.pos",
                    "right_joint5.pos",
                    "right_joint6.pos"
                ]
            },
            "right_gripper": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    1
                ],
                "continuous": true,
                "joint_names": [
                    "right_finger.pos"
                ]
            }
        },
        "action": {
            "left_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true,
                "joint_names": [
                    "left_joint1.pos",
                    "left_joint2.pos",
                    "left_joint3.pos",
                    "left_joint4.pos",
                    "left_joint5.pos",
                    "left_joint6.pos"
                ]
            },
            "left_gripper": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    1
                ],
                "continuous": true,
                "joint_names": [
                    "left_finger.pos"
                ]
            },
            "right_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true,
                "joint_names": [
                    "right_joint1.pos",
                    "right_joint2.pos",
                    "right_joint3.pos",
                    "right_joint4.pos",
                    "right_joint5.pos",
                    "right_joint6.pos"
                ]
            },
            "right_gripper": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    1
                ],
                "continuous": true,
                "joint_names": [
                    "right_finger.pos"
                ]
            }
        }
    },
    "embodiment": {
        "robot_name": "bimanual_yam",
        "robot_type": "bimanual_yam",
        "record_frequency": 30.0,
        "body_controller_frequency": 30.0,
        "hand_controller_frequency": 30.0,
        "embodiment_tag": "bimanual_yam"
    },
    "processing": {
        "rgb_encoding": "h264_video"
    },
    "version": "1.0"
}