############################
# YAMxdof dataset (XDOF teleop on bimanual YAM arms, real)
# 5 cameras (top_camera missing in some episodes; shared = wrists + top_left/right)
# 30 fps source webbed at stride 3 (effective 10 fps), 32-frame video tar chunks (multitar)
# Labels: rgb, language, action (joint_raw); NO intrinsics/extrinsics webbed -> no cams built
dataset:
    name: Webbed
    path: [
        [s3://tri-ml-sandbox-16011-us-west-2-datasets/cv_webbed/videos/YAMxdof/split_all__ILA_32_str3_res-1x512/split_all.json, 1],
    ]
    labels: [rgb,language,action]
    length: 41
    multi_tarfiles: auto
    cameras_core: [[top_left_camera,top_right_camera]]
    cameras_core_mode: skip  # flexible | skip | strict
    cameras_aux: [[left_wrist_camera,right_wrist_camera]]
    cameras_aux_mode: skip  # flexible | skip | strict
    cameras_aux_sample: 1
    augmentation:
        resize: [-16,320]
    custom:
        frame_rate: 10.0  # informational; resolved from metadata framerate / webbing stride
        frame_stride: 1
        prompt: "perform the requested task"
        reference_camera: false
        scale_factor: 0.25  # 1.0 / 4.0
############################
