Add YAM Ultra 2 previews

README.md

@@ -113,6 +113,23 @@ Each OpenArm preview is about 8 s: three moments of the episode joined with shor
 
 Each reBot preview is about 8 s of the episode, in the same layout as the OpenArm previews: a scene camera beside the D435F's lossless depth on top, then every robot camera in color and the left image of its infrared stereo pair. The scene camera (a ZED) is only there for the previews and is not part of the dataset.
 
+### YAM Ultra 2
+
+<table>
+<tr>
+<td width="33%"><a href="https://huggingface.co/datasets/rhoyn-robotics/data-sample/blob/main/previews/yam/eggs.mp4"><video src="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/eggs.mp4" poster="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/eggs.jpg" autoplay muted loop playsinline width="100%"></video></a><br><b>eggs</b></td>
+<td width="33%"><a href="https://huggingface.co/datasets/rhoyn-robotics/data-sample/blob/main/previews/yam/connect_four.mp4"><video src="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/connect_four.mp4" poster="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/connect_four.jpg" autoplay muted loop playsinline width="100%"></video></a><br><b>connect four</b></td>
+<td width="33%"><a href="https://huggingface.co/datasets/rhoyn-robotics/data-sample/blob/main/previews/yam/jenga.mp4"><video src="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/jenga.mp4" poster="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/jenga.jpg" autoplay muted loop playsinline width="100%"></video></a><br><b>jenga</b></td>
+</tr>
+<tr>
+<td width="33%"><a href="https://huggingface.co/datasets/rhoyn-robotics/data-sample/blob/main/previews/yam/puzzle.mp4"><video src="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/puzzle.mp4" poster="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/puzzle.jpg" autoplay muted loop playsinline width="100%"></video></a><br><b>puzzle</b></td>
+<td width="33%"><a href="https://huggingface.co/datasets/rhoyn-robotics/data-sample/blob/main/previews/yam/socks.mp4"><video src="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/socks.mp4" poster="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/socks.jpg" autoplay muted loop playsinline width="100%"></video></a><br><b>socks</b></td>
+<td width="33%"><a href="https://huggingface.co/datasets/rhoyn-robotics/data-sample/blob/main/previews/yam/wipes.mp4"><video src="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/wipes.mp4" poster="https://huggingface.co/datasets/rhoyn-robotics/data-sample/resolve/main/previews/yam/wipes.jpg" autoplay muted loop playsinline width="100%"></video></a><br><b>wipes</b></td>
+</tr>
+</table>
+
+Each YAM Ultra 2 preview is about 8 s of the episode, in the same layout as the reBot previews: a scene camera beside the D435F's lossless depth on top, then every robot camera in color and the left image of its infrared stereo pair. The scene camera (a ZED) is only there for the previews and is not part of the dataset.
+
 ## At a glance
 
 | | Unitree G1 | OpenArm | reBot | YAM Ultra 2 |
@@ -171,14 +188,14 @@ Three more G1 tasks (connect four, jenga and a puzzle) are in the full six-task
 
 ### YAM Ultra 2
 
-| Folder | Task | Duration | Frames |
-|---|---|---|---|
-| `yam/eggs/` | Put butter in the pan, crack the egg into it and scramble it | 252 s | 7,548 |
-| `yam/connect_four/` | Pick up a disc, pass it to the other gripper and drop it into the connect four board | 57 s | 1,702 |
-| `yam/jenga/` | Push a block out of the Jenga tower, pass it to the other gripper and place it on top | 139 s | 4,162 |
-| `yam/puzzle/` | Pick up the puzzle pieces and place them | 79 s | 2,366 |
-| `yam/socks/` | Pick up the two socks and pair them together | 240 s | 7,201 |
-| `yam/wipes/` | Open the pack, pull out a wet wipe and wipe the table | 122 s | 3,672 |
+| Folder | Task | Duration | Frames | Preview |
+|---|---|---|---|---|
+| `yam/eggs/` | Put butter in the pan, crack the egg into it and scramble it | 252 s | 7,548 | [`previews/yam/eggs.mp4`](previews/yam/eggs.mp4) |
+| `yam/connect_four/` | Pick up a disc, pass it to the other gripper and drop it into the connect four board | 57 s | 1,702 | [`previews/yam/connect_four.mp4`](previews/yam/connect_four.mp4) |
+| `yam/jenga/` | Push a block out of the Jenga tower, pass it to the other gripper and place it on top | 139 s | 4,162 | [`previews/yam/jenga.mp4`](previews/yam/jenga.mp4) |
+| `yam/puzzle/` | Pick up the puzzle pieces and place them | 79 s | 2,366 | [`previews/yam/puzzle.mp4`](previews/yam/puzzle.mp4) |
+| `yam/socks/` | Pick up the two socks and pair them together | 240 s | 7,201 | [`previews/yam/socks.mp4`](previews/yam/socks.mp4) |
+| `yam/wipes/` | Open the pack, pull out a wet wipe and wipe the table | 122 s | 3,672 | [`previews/yam/wipes.mp4`](previews/yam/wipes.mp4) |
 
 **Per YAM Ultra 2 episode:** the same streams as the reBot: 9 synchronized camera streams (a RealSense D435F on a camera post + two wrist cameras, color and stereo IR), lossless 16-bit depth from all three cameras, the full joint state and torque pipeline, and the raw PICO VR teleoperation packets. There is no lidar and there are no IMUs on the YAM Ultra 2.
 

previews/yam/connect_four.mp4

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+size 1114248

previews/yam/eggs.mp4

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previews/yam/jenga.mp4

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+size 885545

previews/yam/puzzle.mp4

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+oid sha256:ed268d47632d000217cb5233b3e6d6c5650ed91756b934d9c913f2411d496c9d
+size 1192979

previews/yam/socks.mp4

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+oid sha256:ff3d68db80b0cbb34dde759e000c533930ecf8704a7529ca04db94bc05fa5239
+size 1487932

previews/yam/wipes.mp4

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+oid sha256:172a52486ce24e1b1e125f8c96fddb8001f92788cb384d6c2f27c015ead13b79
+size 1100497