Upload folder using huggingface_hub

README.md

@@ -0,0 +1,17 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# act_2_dataset
+
+**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 sha256:1031f44d2589ec391727b0410d3970aa686d04e95039531e94455747c98b8962
+size 10719

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index":0,"tasks":["Grab the black marker"],"length":106}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"max": [0.016877909250055056, 1.1845223582765911, 0.39893240045584677, -0.006137421545474565, 0.0030687107727372827, 1.5000330348909234], "min": [-0.0, -0.08520330492769701, -0.5293950051315635, -1.0525677950488879, -0.004603066159105924, 1.1047358781854217], "mean": [0.010955940379772253, 0.6198749348898045, 0.06061528717888875, -0.6010463932963459, -0.0006271366794371735, 1.1457549764317398], "std": [0.006948194129009612, 0.46439693314039004, 0.2556734368239478, 0.4096284187366438, 0.0029693611563920605, 0.12054565722420724], "count": [106]}, "action": {"max": [0.016877909250055056, 1.1845223582765911, 0.39893240045584677, -0.006137421545474565, 0.0030687107727372827, 1.5000330348909234], "min": [-0.0, -0.08520330492769701, -0.5293950051315635, -1.0525677950488879, -0.004603066159105924, 1.1047358781854217], "mean": [0.010955940379772253, 0.6198749348898045, 0.06061528717888875, -0.6010463932963459, -0.0006271366794371735, 1.1457549764317398], "std": [0.006948194129009612, 0.46439693314039004, 0.2556734368239478, 0.4096284187366438, 0.0029693611563920605, 0.12054565722420724], "count": [106]}, "timestamp": {"max": [42.345935977005865], "min": [0.004466710000997409], "mean": [20.936344147512397], "std": [12.276694475066941], "count": [106]}, "frame_index": {"max": [105], "min": [0], "mean": [52.5], "std": [30.598202561588483], "count": [106]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [106]}, "index": {"max": [105], "min": [0], "mean": [52.5], "std": [30.598202561588483], "count": [106]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [106]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.003921568859368563]], [[0.019607843831181526]], [[0.0]]], "mean": [[[0.54255610704422]], [[0.5075166821479797]], [[0.48376864194869995]]], "std": [[[0.13736441731452942]], [[0.14288432896137238]], [[0.1457979530096054]]], "count": [219801600]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.6549426317214966]], [[0.6263577342033386]], [[0.6207901835441589]]], "std": [[[0.21137100458145142]], [[0.2046668827533722]], [[0.21161535382270813]]], "count": [219801600]}}}

meta/info.json

@@ -0,0 +1,121 @@
+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 106,
+    "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": {
+            "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": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "mp4v",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.secondary_0": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "video.codec": "mp4v",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index":0,"task":"Grab the black marker"}

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c7eee638edad7353368e8e8be6ad14737f50b943ee462a86e94e273bc66ccf
+size 2241037

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6a0aed3cac109b3e01dde924da11ffd145f907d3fee353fee57a233300af60c
+size 2231611