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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# move_object
+
+**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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+size 43406

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Move the object from a to b"],"length":609}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.33448947422836406, 1.330286119981612, 1.4000000000000008, 1.6700000000000006, 3.12701627741929, 1.5000000000000002], "min": [-0.6567041053657787, -1.570800000000001, -1.600000000000001, -1.670000000000001, 1.3931946908227273, -0.0322214631137415], "mean": [-0.07201644394739118, -0.20234149451565123, -0.27627265639435516, 0.5561454711222529, 2.2285189266843846, 0.2334532906712169], "std": [0.2859469466763661, 1.0952959858237619, 1.2214622163674027, 1.4765055803511176, 0.5739912862147186, 0.48917215973805267], "count": [609]}, "action": {"max": [0.33448947422836406, 1.330286119981612, 1.4000000000000008, 1.6700000000000006, 3.12701627741929, 1.5000000000000002], "min": [-0.6567041053657787, -1.570800000000001, -1.600000000000001, -1.670000000000001, 1.3931946908227273, -0.0322214631137415], "mean": [-0.07201644394739118, -0.20234149451565123, -0.27627265639435516, 0.5561454711222529, 2.2285189266843846, 0.2334532906712169], "std": [0.2859469466763661, 1.0952959858237619, 1.2214622163674027, 1.4765055803511176, 0.5739912862147186, 0.48917215973805267], "count": [609]}, "timestamp": {"max": [38.6679832919981], "min": [0.07429024999873945], "mean": [19.403933634635372], "std": [11.247727775519888], "count": [609]}, "frame_index": {"max": [608], "min": [0], "mean": [304.0], "std": [175.80291996058162], "count": [609]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [609]}, "index": {"max": [608], "min": [0], "mean": [304.0], "std": [175.80291996058162], "count": [609]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [609]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0117647061124444]], [[0.0]], [[0.0]]], "mean": [[[0.6163318879994527]], [[0.524206947865353]], [[0.400504370210728]]], "std": [[[0.30084947364386355]], [[0.2627091697364302]], [[0.2376404903583609]]], "count": [187084800]}}}

meta/info.json

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+{
+    "robot_type": "so-100-leader",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 609,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 60,
+    "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
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 60,
+                "video.codec": "mp4v",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"Move the object from a to b"}

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

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