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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# egg_0731
+
+**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

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meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Grab the egg and place it in the red bin."],"length":190}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [190]}, "action": {"max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [190]}, "timestamp": {"max": [23.452245800057426], "min": [0.16813970007933676], "mean": [11.405147211093112], "std": [6.559727287215095], "count": [190]}, "frame_index": {"max": [189], "min": [0], "mean": [94.5], "std": [54.847515896346664], "count": [190]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [190]}, "index": {"max": [189], "min": [0], "mean": [94.5], "std": [54.847515896346664], "count": [190]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [190]}, "observation.images.main": {"max": [[[0.8156862854957581]], [[0.8078431487083435]], [[0.8156862854957581]]], "min": [[[0.007843137718737125]], [[0.0]], [[0.0]]], "mean": [[[0.5589554905891418]], [[0.5471548438072205]], [[0.531295895576477]]], "std": [[[0.07134338468313217]], [[0.0941653624176979]], [[0.0906161367893219]]], "count": [10944000]}, "observation.images.secondary_0": {"max": [[[0.800000011920929]], [[0.8313725590705872]], [[0.8392156958580017]]], "min": [[[0.0]], [[0.003921568859368563]], [[0.0]]], "mean": [[[0.4542105197906494]], [[0.4683206379413605]], [[0.4382220506668091]]], "std": [[[0.07308138906955719]], [[0.08428139984607697]], [[0.0864730104804039]]], "count": [10944000]}, "observation.images.secondary_1": {"max": [[[0.6549019813537598]], [[0.6784313917160034]], [[0.6705882549285889]]], "min": [[[0.027450980618596077]], [[0.03529411926865578]], [[0.007843137718737125]]], "mean": [[[0.362448513507843]], [[0.3721041977405548]], [[0.3474760353565216]]], "std": [[[0.08942581713199615]], [[0.10761929303407669]], [[0.10554946213960648]]], "count": [10944000]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 190,
+    "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": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "timestamp": {
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+        "observation.images.main": {
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+                320,
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+            "names": [
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+                "channel"
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+            "info": {
+                "video.fps": 30,
+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
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+        "observation.images.secondary_1": {
+            "dtype": "video",
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+            "names": [
+                "height",
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+                "channel"
+            ],
+            "info": {
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+                "video.codec": "avc1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"Grab the egg and place it in the red bin."}

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

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

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videos/chunk-000/observation.images.secondary_1/episode_000000.mp4

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