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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# fold_green_towel_same_location
+
+**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":["Fold a green towel."],"length":555}

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": [555]}, "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": [555]}, "timestamp": {"max": [32.77500166600112], "min": [0.061637791000975994], "mean": [16.45300986491572], "std": [9.470033708573895], "count": [555]}, "frame_index": {"max": [554], "min": [0], "mean": [277.0], "std": [160.21443963222126], "count": [555]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [555]}, "index": {"max": [554], "min": [0], "mean": [277.0], "std": [160.21443963222126], "count": [555]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [555]}, "observation.images.main": {"max": [[[0.9411764740943909]], [[0.9882352948188782]], [[1.0]]], "min": [[[0.0]], [[0.01568627543747425]], [[0.01568627543747425]]], "mean": [[[0.4521501362323761]], [[0.4974076449871063]], [[0.5444961786270142]]], "std": [[[0.25551584362983704]], [[0.2709959149360657]], [[0.2885644733905792]]], "count": [42624000]}, "observation.images.secondary_0": {"max": [[[0.9686274528503418]], [[0.9921568632125854]], [[1.0]]], "min": [[[0.019607843831181526]], [[0.054901961237192154]], [[0.05882352963089943]]], "mean": [[[0.5346909761428833]], [[0.5545943379402161]], [[0.6078473925590515]]], "std": [[[0.2576073408126831]], [[0.2549079954624176]], [[0.25695547461509705]]], "count": [42624000]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 555,
+    "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": [
+                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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+        "index": {
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+        "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": [
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+                320,
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+            "names": [
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+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"Fold a green towel."}

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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