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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# green_cube_3
+
+**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

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+size 15022

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Picking up a green cube"],"length":325}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [-0.04142759543195332, 0.5815206914337151, 1.545095874073222, 1.724615454278353, 2.0299521761657124, 1.0510334396625194], "min": [-1.454568906277472, -1.8197454882332087, -0.3145428542055715, 1.1952628459811716, 1.5266836094367982, 0.01074048770458049], "mean": [-0.4690972920011105, -0.7069931932906963, 0.6447314122586055, 1.3401154366413681, 1.8100766887523363, 0.4629032173336763], "std": [0.5429678750586582, 0.9201448455149409, 0.7547870755742521, 0.15135099941621588, 0.1541646422168239, 0.38017135016003306], "count": [325]}, "action": {"max": [-0.04142759543195332, 0.5815206914337151, 1.545095874073222, 1.724615454278353, 2.0299521761657124, 1.0510334396625194], "min": [-1.454568906277472, -1.8197454882332087, -0.3145428542055715, 1.1952628459811716, 1.5266836094367982, 0.01074048770458049], "mean": [-0.4690972920011105, -0.7069931932906963, 0.6447314122586055, 1.3401154366413681, 1.8100766887523363, 0.4629032173336763], "std": [0.5429678750586582, 0.9201448455149409, 0.7547870755742521, 0.15135099941621588, 0.1541646422168239, 0.38017135016003306], "count": [325]}, "timestamp": {"max": [24.15063982599895], "min": [0.01142144100231235], "mean": [12.061291567440717], "std": [6.968253100025877], "count": [325]}, "frame_index": {"max": [324], "min": [0], "mean": [162.0], "std": [93.81897462667133], "count": [325]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [325]}, "index": {"max": [324], "min": [0], "mean": [162.0], "std": [93.81897462667133], "count": [325]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [325]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.42603740096092224]], [[0.4249471426010132]], [[0.40786463022232056]]], "std": [[[0.3051827847957611]], [[0.30906379222869873]], [[0.3293432295322418]]], "count": [299520000]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 325,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "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": [
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+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
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+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "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":"Picking up a green cube"}

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

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