Upload folder using huggingface_hub

README.md

@@ -0,0 +1,17 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# ur-1
+
+**This dataset was generated using [phosphobot](https://docs.phospho.ai).**
+
+This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot.
+
+To get started in robotics, [get your own phospho starter pack.](https://robots.phospho.ai).

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f83011c62ca3107087f7e7247ad8b0ffbafdcb8b41d0c3c186aaaa06cba0a25
+size 59427

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index":0,"tasks":["Pick up the tissue and put it into the paper box."],"length":540}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"max": [0.12333586812019348, -1.0852925044349213, 1.8611586729632776, -1.8358179531493128, -1.3947919050799769, -1.2833741346942347, 0.8784313725490196], "min": [-0.6260889212237757, -1.5780474148192347, 1.5907438437091272, -2.411548753777975, -1.6586507002459925, -1.9071181456195276, 0.011764705882352941], "mean": [-0.17924167053001797, -1.3240259883226393, 1.7531413387316395, -2.095475088865505, -1.5410072962390213, -1.674615052005996, 0.3442846768336934], "std": [0.27796992684334765, 0.15253591602969072, 0.08737653541731982, 0.1471118253819669, 0.07755230501350044, 0.18796228060980247, 0.40900882134606664], "count": [540]}, "action": {"max": [0.12333586812019348, -1.0852925044349213, 1.8611586729632776, -1.8358179531493128, -1.3947919050799769, -1.2833741346942347, 0.8784313725490196], "min": [-0.6260889212237757, -1.5780474148192347, 1.5907438437091272, -2.411548753777975, -1.6586507002459925, -1.9071181456195276, 0.011764705882352941], "mean": [-0.17924167053001797, -1.3240259883226393, 1.7531413387316395, -2.095475088865505, -1.5410072962390213, -1.674615052005996, 0.3442846768336934], "std": [0.27796992684334765, 0.15253591602969072, 0.08737653541731982, 0.1471118253819669, 0.07755230501350044, 0.18796228060980247, 0.40900882134606664], "count": [540]}, "timestamp": {"max": [20.90912127699994], "min": [0.0021339820000321197], "mean": [10.422898561935229], "std": [6.0978443093028005], "count": [540]}, "frame_index": {"max": [539], "min": [0], "mean": [269.5], "std": [155.8843053891785], "count": [540]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [540]}, "index": {"max": [539], "min": [0], "mean": [269.5], "std": [155.8843053891785], "count": [540]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [540]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.3139471450617284]], [[0.30791184413580247]], [[0.3275430893132716]]], "std": [[[0.31578211421322266]], [[0.328015743336645]], [[0.30459461578825103]]], "count": [41472000]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.36561774209104936]], [[0.3560537712191358]], [[0.3720992717978395]]], "std": [[[0.3048897854169212]], [[0.31732637665842117]], [[0.2968085653126433]]], "count": [41472000]}}}

meta/info.json

@@ -0,0 +1,125 @@
+{
+    "robot_type": "ur5e",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 540,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "motor_0",
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "motor_0",
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "gripper"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_0": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index":0,"task":"Pick up the tissue and put it into the paper box."}

videos/chunk-000/observation.images.main/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8af6b63232d251f64510614cdfdda26cff5debff8a8c412a41d3fc5cf6e595
+size 366079

videos/chunk-000/observation.images.secondary_0/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27c03af41043a416eaf73b3f89695bf9e50066cfc8c9ec475a86a82cc95ecc24
+size 771334