---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).


<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=jellyho/yam_cable_tie">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>


## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": "yam_bimanual",
    "total_episodes": 160,
    "total_frames": 251080,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:160"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                42
            ],
            "names": [
                "left.pos.0",
                "left.pos.1",
                "left.pos.2",
                "left.pos.3",
                "left.pos.4",
                "left.pos.5",
                "left.pos.6",
                "left.vel.0",
                "left.vel.1",
                "left.vel.2",
                "left.vel.3",
                "left.vel.4",
                "left.vel.5",
                "left.vel.6",
                "left.eff.0",
                "left.eff.1",
                "left.eff.2",
                "left.eff.3",
                "left.eff.4",
                "left.eff.5",
                "left.eff.6",
                "right.pos.0",
                "right.pos.1",
                "right.pos.2",
                "right.pos.3",
                "right.pos.4",
                "right.pos.5",
                "right.pos.6",
                "right.vel.0",
                "right.vel.1",
                "right.vel.2",
                "right.vel.3",
                "right.vel.4",
                "right.vel.5",
                "right.vel.6",
                "right.eff.0",
                "right.eff.1",
                "right.eff.2",
                "right.eff.3",
                "right.eff.4",
                "right.eff.5",
                "right.eff.6"
            ]
        },
        "observation.leader": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left.leader.0",
                "left.leader.1",
                "left.leader.2",
                "left.leader.3",
                "left.leader.4",
                "left.leader.5",
                "right.leader.0",
                "right.leader.1",
                "right.leader.2",
                "right.leader.3",
                "right.leader.4",
                "right.leader.5"
            ]
        },
        "observation.eef": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left.eef.x",
                "left.eef.y",
                "left.eef.z",
                "left.eef.qw",
                "left.eef.qx",
                "left.eef.qy",
                "left.eef.qz",
                "right.eef.x",
                "right.eef.y",
                "right.eef.z",
                "right.eef.qw",
                "right.eef.qx",
                "right.eef.qy",
                "right.eef.qz"
            ]
        },
        "observation.control_mode": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "control_mode.0"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left.act.0",
                "left.act.1",
                "left.act.2",
                "left.act.3",
                "left.act.4",
                "left.act.5",
                "left.act.6",
                "right.act.0",
                "right.act.1",
                "right.act.2",
                "right.act.3",
                "right.act.4",
                "right.act.5",
                "right.act.6"
            ]
        },
        "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
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```