Add files using upload-large-folder tool

README.md

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+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- manipulation
+- yam
+- depth
+- bimanual
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# sort_utensils
+
+Bimanual utensil sorting: pick up a utensil, set it on the pink plate, then place the other utensil in the container.
+
+Real-robot bimanual manipulation data collected on a **YAM** arm pair, released as part
+of the Flex-π project. Stored in **LeRobot v2.1** format with **synchronized RGB and
+metric depth** from three cameras.
+
+## At a glance
+
+| | |
+|---|---|
+| Episodes | 152 |
+| Frames | 128,010 |
+| Duration | ~1.2 h @ 30 fps |
+| Tasks | 1 |
+| Robot | `yam` (bimanual) |
+| Cameras | `cam_high`, `cam_left_wrist`, `cam_right_wrist` |
+| RGB | 640×360, H.264 `.mp4` |
+| Depth | 640×360, FFV1 `.mkv`, uint16 **millimetres** |
+| State / action | 32-D / 32-D |
+| LeRobot version | `v2.1` |
+
+## Tasks
+
+0. Pick up a utensil and set it on the pink plate, then put the other utensil in the container.
+
+## Layout
+
+```
+meta/
+  info.json              # feature schema, totals, chunking
+  tasks.jsonl            # task_index -> natural-language instruction
+  episodes.jsonl         # per-episode length + task
+  episodes_stats.jsonl   # per-episode min/max/mean/std for state & action
+  camera_intrinsics.json # per-camera pinhole K at stored resolution
+data/chunk-{NNN}/episode_{NNNNNN}.parquet
+videos/chunk-{NNN}/observation.images.{cam}/episode_{NNNNNN}.mp4   # RGB
+videos/chunk-{NNN}/observation.depth_ffv1.{cam}/episode_{NNNNNN}.mkv # depth
+```
+
+Episodes are indexed `0 .. 151`, chunked at
+1000 episodes (1 chunk).
+The parquet `index` column is a **global** frame counter running
+`0 .. 128,009` across the whole dataset.
+
+## Camera intrinsics
+
+Pinhole `K` at the stored 640×360 resolution, averaged over episodes:
+
+| camera | fx | fy | cx | cy |
+|---|---|---|---|---|
+| `cam_high` | 262.27 | 262.11 | 320.51 | 183.18 |
+| `cam_left_wrist` | 365.75 | 365.53 | 318.08 | 182.79 |
+| `cam_right_wrist` | 366.89 | 366.67 | 324.67 | 171.96 |
+
+## Reading the depth
+
+> **The depth streams are an extension to stock LeRobot.** They are declared with
+> `dtype: "depth_video"` (not `"video"`) in `meta/info.json` precisely so that the
+> stock `LeRobotDataset` loader skips them — you get a working RGB dataset out of the
+> box, and depth needs the decoder below.
+
+Each depth frame is a single-channel **uint16, millimetre** map, FFV1-encoded in
+`gray16le` inside a Matroska container. `0` means no return. To decode a frame:
+
+```python
+import av, numpy as np
+
+with av.open("videos/chunk-000/observation.depth_ffv1.cam_high/episode_000000.mkv") as c:
+    for frame in c.decode(video=0):
+        depth_mm = frame.to_ndarray(format="gray16le").astype(np.uint16)  # (H, W)
+        depth_m = depth_mm.astype(np.float32) / 1000.0
+```
+
+FFV1 is lossless, so the decoded values are bit-exact with what the sensor reported.
+Do **not** transcode these to a lossy codec.
+
+## State and action layout
+
+`observation.state` and `action` are both 32-D. The vector is grouped **by field**, not
+by arm:
+
+| index | contents |
+|---|---|
+| `0:3` | `left_pos_{x,y,z}` — left end-effector position |
+| `3:9` | `left_rot6d_{0..5}` — left end-effector rotation, 6-D representation |
+| `9:12` | `right_pos_{x,y,z}` |
+| `12:18` | `right_rot6d_{0..5}` |
+| `18:20` | `left_gripper`, `right_gripper` |
+| `20:26` | `left_joint_{0..5}` |
+| `26:32` | `right_joint_{0..5}` |
+
+The authoritative per-dimension names are in `meta/info.json` under
+`features.observation.state.names`. The 6-D rotation is the **first two rows** of the
+3×3 rotation matrix, row-major flattened (Zhou et al., *On the Continuity of Rotation
+Representations*); recover `R` by Gram–Schmidt on those two rows and their cross
+product.
+
+## Loading
+
+RGB only, with stock LeRobot:
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+ds = LeRobotDataset("flex-pi/sort_utensils")
+```
+
+RGB + depth: use the `RobotPerCamDepthVideoDataset` loader from the Flex-π / FastWAM
+codebase, which reads the `depth_encoder` / `depth_ext` fields in `meta/info.json`.
+
+## Provenance
+
+Built with `fastwam-eef32-action26-openpi-aligned` from source recordings
+`clean_up_table_V2_4`, `clean_up_table_V2_1`.
+
+## Citation
+
+If you use this dataset, please cite the Flex-π project.

meta/camera_intrinsics.json

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+{
+  "cam_high": {
+    "fx": 262.2689588319215,
+    "fy": 262.1091226212376,
+    "cx": 320.51410067830557,
+    "cy": 183.18441368428603,
+    "width": 640,
+    "height": 360
+  },
+  "cam_left_wrist": {
+    "fx": 365.7529043981968,
+    "fy": 365.5300013198222,
+    "cx": 318.0761040807297,
+    "cy": 182.7892217748503,
+    "width": 640,
+    "height": 360
+  },
+  "cam_right_wrist": {
+    "fx": 366.8912487197211,
+    "fy": 366.66765189305187,
+    "cx": 324.66984650690483,
+    "cy": 171.9579395411191,
+    "width": 640,
+    "height": 360
+  }
+}

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Pick up a utensil and set it on the pink plate, then put the other utensil in the container."], "length": 913}
+{"episode_index": 1, "tasks": ["Pick up a utensil and set it on the pink plate, then put the other utensil in the container."], "length": 922}
+{"episode_index": 2, "tasks": ["Pick up a utensil and set it on the pink plate, then put the other utensil in the container."], "length": 565}
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