Upload folder using huggingface_hub

README.md

@@ -0,0 +1,15 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# example_dataset
+
+**This dataset was generated using a [phospho starter pack](https://robots.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 and RLDS.

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3c1c0e79cee75ddebe570b36011ac6fa4c5b0cad4a5c14af324678548b611b
+size 30878

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index":0,"tasks":["None"],"length":387}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"max": [0.3575048050238932, -0.2163441094779783, 1.4000000000000008, 0.8239488424799603, -1.0633082827534694, 1.5000000000000018, 0.6229482868656678, 1.0924610350944735, 1.4000000000000008, 1.1814536475038544, -1.3149425661179266, 1.5000000000000018], "min": [-0.3912606235240037, -1.570800000000001, -0.2117410433188726, -1.6699999999999995, -1.848898240574212, 0.021480975409160993, 0.16571038172781324, -1.570800000000001, -1.3456296738452993, -1.670000000000001, -2.5209458998036784, 0.38052013581942284], "mean": [-0.15600469184194618, -1.3499795008760287, 1.1195503900444588, -1.0162543181226376, -1.4374610419565903, 1.3986212496747323, 0.3743589258183456, -0.27285121016866093, 0.21005719243009166, -0.45191623557476307, -1.9611282093647497, 0.6283388864330969], "std": [0.2081541879736235, 0.37194240085290114, 0.48321025502311266, 0.9052931725585407, 0.2534250434647176, 0.2979862545256805, 0.15746056034714884, 0.7485869271897486, 0.987137302112451, 1.0805304129167215, 0.3799355578760906, 0.4127745604349016], "count": [387]}, "action": {"max": [0.3575048050238932, -0.2163441094779783, 1.4000000000000008, 0.8239488424799603, -1.0633082827534694, 1.5000000000000018, 0.6229482868656678, 1.0924610350944735, 1.4000000000000008, 1.1814536475038544, -1.3149425661179266, 1.5000000000000018], "min": [-0.3912606235240037, -1.570800000000001, -0.2117410433188726, -1.6699999999999995, -1.848898240574212, 0.021480975409160993, 0.16571038172781324, -1.570800000000001, -1.3456296738452993, -1.670000000000001, -2.5209458998036784, 0.38052013581942284], "mean": [-0.15600469184194618, -1.3499795008760287, 1.1195503900444588, -1.0162543181226376, -1.4374610419565903, 1.3986212496747323, 0.3743589258183456, -0.27285121016866093, 0.21005719243009166, -0.45191623557476307, -1.9611282093647497, 0.6283388864330969], "std": [0.2081541879736235, 0.37194240085290114, 0.48321025502311266, 0.9052931725585407, 0.2534250434647176, 0.2979862545256805, 0.15746056034714884, 0.7485869271897486, 0.987137302112451, 1.0805304129167215, 0.3799355578760906, 0.4127745604349016], "count": [387]}, "timestamp": {"max": [130.22589865700002], "min": [0.5602631300000667], "mean": [65.85303793113957], "std": [37.09101223486246], "count": [387]}, "frame_index": {"max": [386], "min": [0], "mean": [193.0], "std": [111.71690412227983], "count": [387]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [387]}, "index": {"max": [386], "min": [0], "mean": [193.0], "std": [111.71690412227983], "count": [387]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [387]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.23842471837997437]], [[0.2662029266357422]], [[0.24745582044124603]]], "std": [[[0.18730436265468597]], [[0.1828160285949707]], [[0.1781424582004547]]], "count": [29721600]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4026600420475006]], [[0.41056153178215027]], [[0.38334333896636963]]], "std": [[[0.18104076385498047]], [[0.1648481786251068]], [[0.17238138616085052]]], "count": [29721600]}}}

meta/info.json

@@ -0,0 +1,153 @@
+{
+    "robot_type": "so-100, so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 387,
+    "total_tasks": 1,
+    "total_videos": 3,
+    "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": [
+                12
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_1_secondary",
+                "motor_2_secondary",
+                "motor_3_secondary",
+                "motor_4_secondary",
+                "motor_5_secondary",
+                "motor_6_secondary"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_1_secondary",
+                "motor_2_secondary",
+                "motor_3_secondary",
+                "motor_4_secondary",
+                "motor_5_secondary",
+                "motor_6_secondary"
+            ]
+        },
+        "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
+            }
+        },
+        "observation.images.secondary_1": {
+            "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":"None"}

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e70003bcc1f03f61b3028c4aa59b0163d73b375fb40daf43848162dcc42eea
+size 724827

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c53ef526fb089f6c5ef36c4d45a2f8b2c76eae33261a58d9c20274c6731174
+size 909544