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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# munich_test1
+
+**This dataset was generated using the [phospho cli](https://github.com/phospho-app/phosphobot)**
+
+More information on [robots.phospho.ai](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/blacklist.json

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+[
+  2,
+  3,
+  5
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meta/episode_mapping.json

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+{
+  "0": "/data/20250916_083723/episodes/episodes_0.mcap",
+  "1": "/data/20250916_083723/episodes/episodes_1.mcap",
+  "2": "/data/20250916_083723/episodes/episodes_2.mcap",
+  "3": "/data/20250916_083723/episodes/episodes_3.mcap",
+  "4": "/data/20250916_083723/episodes/episodes_4.mcap"
+}

meta/episodes.jsonl

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+{"episode_index": 3, "tasks": ["Push the box"], "length": 352}
+{"episode_index": 4, "tasks": ["Push the box"], "length": 64}

meta/episodes_stats.jsonl

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meta/info.json

@@ -0,0 +1,184 @@
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+                "tcp_left_pos_y",
+                "tcp_left_pos_z",
+                "tcp_left_quat_x",
+                "tcp_left_quat_y",
+                "tcp_left_quat_z",
+                "tcp_left_quat_w",
+                "tcp_right_pos_x",
+                "tcp_right_pos_y",
+                "tcp_right_pos_z",
+                "tcp_right_quat_x",
+                "tcp_right_quat_y",
+                "tcp_right_quat_z",
+                "tcp_right_quat_w",
+                "gripper_left_0",
+                "gripper_left_1",
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+                "last_command_left_2",
+                "last_command_left_3",
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+                "last_command_left_5",
+                "last_command_left_6",
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+                "last_command_right_1",
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+                "delta_tcp_right_y",
+                "delta_tcp_right_z",
+                "delta_tcp_right_rot_x",
+                "delta_tcp_right_rot_y",
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+}

meta/pipeline_config.json

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+{
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+  "include_joint_velocities": false,
+  "include_joint_efforts": false,
+  "include_tcp_poses": true,
+  "include_last_command": true,
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+  "include_depth_images": false,
+  "depth_scale_factor": 1000.0,
+  "action_level": "delta_tcp",
+  "left_gripper": "panda",
+  "right_gripper": "panda",
+  "task_name": "Push the box",
+  "max_pause_seconds": 0.2,
+  "pause_velocity": 0.03,
+  "save_pauses": false,
+  "gripper_active_speed": 0.05,
+  "boost_factor": 1,
+  "grace_period_seconds": 0.2,
+  "save_normal": false,
+  "recording_fps": 30,
+  "target_fps": 10,
+  "subsample_offset": 0,
+  "min_episode_seconds": 15
+}

meta/tasks.jsonl

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