{
  "format": "rllab_lance_session_v1",
  "schema_version": "1.0",
  "created_at": "2026-05-08T07:57:57.981859+00:00",
  "skill_name": "grasp",
  "operator": "chihun",
  "action_source": "physical_ai_command_trajectory",
  "primary_training_table": "episodes.lance",
  "training_columns": {
    "state": "observation_state",
    "action": "actions"
  },
  "media_mode": "episode_blob",
  "camera_keys": [
    "observation.images.cam_head",
    "observation.images.cam_wrist_left",
    "observation.images.cam_wrist_right"
  ],
  "all_camera_keys": [
    "observation.images.cam_head",
    "observation.images.cam_wide",
    "observation.images.cam_wrist_left",
    "observation.images.cam_wrist_right"
  ],
  "missing_optional_camera_keys": [
    "observation.images.cam_wide"
  ],
  "state_dim": 19,
  "action_dim": 19,
  "fps": 30.0,
  "joint_order": [
    "arm_l_joint1",
    "arm_l_joint2",
    "arm_l_joint3",
    "arm_l_joint4",
    "arm_l_joint5",
    "arm_l_joint6",
    "arm_l_joint7",
    "gripper_l_joint1",
    "arm_r_joint1",
    "arm_r_joint2",
    "arm_r_joint3",
    "arm_r_joint4",
    "arm_r_joint5",
    "arm_r_joint6",
    "arm_r_joint7",
    "gripper_r_joint1",
    "head_joint1",
    "head_joint2",
    "lift_joint"
  ],
  "tables": {
    "episodes": {
      "path": "episodes.lance",
      "exists": true
    },
    "frames": {
      "path": "frames.lance",
      "exists": true
    }
  }
}