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README.md

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+---
+license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - LeRobot
+  - yam
+  - teleop
+  - manipulation
+configs:
+  - config_name: default
+    data_files: data/**/*.parquet
+---
+
+# 8ml_vial_place_30fps (wrist-camera-fixed)
+
+Teleoperation dataset: **place the vial into the stand**
+
+Collected with [limb](https://github.com/TToTMooN/limb) on yam arms.
+
+> **This is a corrected fork** of
+> [ttotmoon/8ml_vial_place_30fps](https://huggingface.co/datasets/ttotmoon/8ml_vial_place_30fps).
+> The source dataset was recorded with a YAML camera-config bug that
+> assigned the **wrong RealSense serial number** to each wrist camera,
+> so the videos under `observation.images.left_wrist_camera/` actually
+> contained physical-right-wrist footage (and vice versa). This fork
+> swaps them back so labels match physical reality. See
+> [§ What was fixed](#what-was-fixed) below.
+
+## Dataset summary
+
+| Field | Value |
+|-------|-------|
+| Robot | yam |
+| Episodes | 197 |
+| Total frames | 229,860 |
+| FPS | 30 Hz |
+| Task | place the vial into the stand |
+| Format | LeRobot v3.0 |
+
+## Cameras
+
+| Name |
+|------|
+| `head_camera` |
+| `left_wrist_camera` |
+| `right_wrist_camera` |
+
+Video codec: hevc.
+
+## State space (`observation.state`, shape `[14]`)
+
+| Index | Name |
+|-------|------|
+| 0 | `left_joint_0` |
+| 1 | `left_joint_1` |
+| 2 | `left_joint_2` |
+| 3 | `left_joint_3` |
+| 4 | `left_joint_4` |
+| 5 | `left_joint_5` |
+| 6 | `left_gripper` |
+| 7 | `right_joint_0` |
+| 8 | `right_joint_1` |
+| 9 | `right_joint_2` |
+| 10 | `right_joint_3` |
+| 11 | `right_joint_4` |
+| 12 | `right_joint_5` |
+| 13 | `right_gripper` |
+
+## Action space (`action`, shape `[14]`)
+
+| Index | Name |
+|-------|------|
+| 0 | `left_joint_0` |
+| 1 | `left_joint_1` |
+| 2 | `left_joint_2` |
+| 3 | `left_joint_3` |
+| 4 | `left_joint_4` |
+| 5 | `left_joint_5` |
+| 6 | `left_gripper` |
+| 7 | `right_joint_0` |
+| 8 | `right_joint_1` |
+| 9 | `right_joint_2` |
+| 10 | `right_joint_3` |
+| 11 | `right_joint_4` |
+| 12 | `right_joint_5` |
+| 13 | `right_gripper` |
+
+State and action are 1:1 index-aligned.
+
+> **Note:** Gripper dimensions may use different units between state (raw motor
+> radians) and action (teleoperator command space). The robot's JointMapper
+> rescales between these at command time. Left and right grippers may also have
+> different value ranges if the physical hardware travel differs.
+
+## Usage
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+ds = LeRobotDataset("<repo_id>")
+print(ds.num_episodes, ds.num_frames, ds[0]["observation.state"].shape)
+```
+
+## What was fixed
+
+The original dataset's recording-time YAML mis-assigned wrist-camera
+serial numbers. As a result, in the source dataset:
+
+- `videos/observation.images.left_wrist_camera/` contained physical-**right**-wrist footage
+- `videos/observation.images.right_wrist_camera/` contained physical-**left**-wrist footage
+
+This fork applies a one-shot swap so the labels match the physical
+camera mounts.
+
+### What was touched
+
+1. **Video directories renamed:**
+   `videos/observation.images.left_wrist_camera/` ↔
+   `videos/observation.images.right_wrist_camera/`
+2. **`meta/episodes/chunk-000/file-000.parquet`** — swapped the
+   `videos/observation.images.{left,right}_wrist_camera/{chunk_index,
+   file_index, from_timestamp, to_timestamp}` column groups (4 cols × 2 cams)
+   and the `stats/observation.images.{left,right}_wrist_camera/
+   {min, max, mean, std, count}` column groups (5 cols × 2 cams).
+
+### What was NOT touched
+
+- `data/*.parquet` carries only state, action, episode_index, frame_index,
+  timestamp, index, task_index — no per-camera columns.
+- `meta/info.json` — both wrist features have identical schemas, so the
+  JSON is byte-identical to the source.
+- `meta/stats.json`, `meta/tasks.parquet` — no per-camera content.
+- `observation.state` / `action` columns — `left_joint_*` / `right_joint_*`
+  refer to arm identity from the CAN bus, independent of camera labeling.
+  The arms themselves were always correctly identified; only the wrist
+  cameras' labels were swapped.
+
+### Downstream impact
+
+Any checkpoint trained on the source (e.g.
+[ttotmoon/yam-vial-place-pi05-v1](https://huggingface.co/ttotmoon/yam-vial-place-pi05-v1))
+learned the buggy wrist assignment and will not produce correct behavior
+when served with a physically-correct camera-config YAML. Retrain SFT
+from `pi05_base` on this dataset for a consistent serving setup.
+
+## License
+
+Apache 2.0

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meta/info.json

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+{
+  "codebase_version": "v3.0",
+  "robot_type": "yam",
+  "total_episodes": 197,
+  "total_frames": 229860,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:197"
+  },
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+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
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+        "left_joint_1",
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+        "left_gripper",
+        "right_joint_0",
+        "right_joint_1",
+        "right_joint_2",
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+}

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