luuuuuuukee commited on
Commit
bc4d1e1
·
verified ·
1 Parent(s): 9ce48f9

Upload folder using huggingface_hub

Browse files
README.md ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # place_tape_lab
12
+
13
+ **This dataset was generated using [phosphobot](https://docs.phospho.ai).**
14
+
15
+ 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.
16
+
17
+ To get started in robotics, [get your own phospho starter pack.](https://robots.phospho.ai).
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4eb621e1e411118a70451aeb530cefb999f5a31d1a1db89e20ca2d91f15eb33e
3
+ size 18487
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Pick up the roll of duct tape and put it in the bowl."],"length":142}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"max": [0.058305504682008374, 0.11354229859127946, 0.808605288616274, -0.08745825702301256, 0.02148097540916098, 2.1895251363480512, 0.6827881469340454, 0.988124868821405, 0.30687107727372825, 1.168924185146344, 0.30226801111462237, 1.672447371141819], "min": [0.0015343553863686413, -0.1258171416822286, 0.30993978804646555, -0.29459623418277914, -0.019946620022792336, 2.1895251363480512, -0.046030661591059244, -0.6198795760929311, -1.0510334396625194, 0.30380236650099096, 0.007671776931843207, 0.1043361662730676], "mean": [0.036424732446821755, 0.005532323646624969, 0.5931796313061932, -0.22612292373617293, 0.0028093831018017423, 2.1895251363480446, 0.3148013924654912, 0.26127295935968003, -0.3492408781878459, 0.7204320874047617, 0.11575249720806924, 0.8967940850646718], "std": [0.016120946628724632, 0.09576334104576038, 0.1584372756186455, 0.05235322764040363, 0.009824620627757583, 1.548574096771071e-07, 0.24540254726440547, 0.5618738214035293, 0.5988127291685565, 0.24948626440121321, 0.0911183341629014, 0.7515093366918444], "count": [142]}, "action": {"max": [0.058305504682008374, 0.11354229859127946, 0.808605288616274, -0.08745825702301256, 0.02148097540916098, 2.1895251363480512, 0.6827881469340454, 0.988124868821405, 0.30687107727372825, 1.168924185146344, 0.30226801111462237, 1.672447371141819], "min": [0.0015343553863686413, -0.1258171416822286, 0.30993978804646555, -0.29459623418277914, -0.019946620022792336, 2.1895251363480512, -0.046030661591059244, -0.6198795760929311, -1.0510334396625194, 0.30380236650099096, 0.007671776931843207, 0.1043361662730676], "mean": [0.036424732446821755, 0.005532323646624969, 0.5931796313061932, -0.22612292373617293, 0.0028093831018017423, 2.1895251363480446, 0.3148013924654912, 0.26127295935968003, -0.3492408781878459, 0.7204320874047617, 0.11575249720806924, 0.8967940850646718], "std": [0.016120946628724632, 0.09576334104576038, 0.1584372756186455, 0.05235322764040363, 0.009824620627757583, 1.548574096771071e-07, 0.24540254726440547, 0.5618738214035293, 0.5988127291685565, 0.24948626440121321, 0.0911183341629014, 0.7515093366918444], "count": [142]}, "timestamp": {"max": [7.692251082999974], "min": [0.0013187909999032854], "mean": [3.7446543455915027], "std": [2.2427232169943543], "count": [142]}, "frame_index": {"max": [141], "min": [0], "mean": [70.5], "std": [40.99085263811915], "count": [142]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [142]}, "index": {"max": [141], "min": [0], "mean": [70.5], "std": [40.99085263811915], "count": [142]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [142]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.5453331470489502]], [[0.5195233821868896]], [[0.4971277713775635]]], "std": [[[0.2374352663755417]], [[0.2539439797401428]], [[0.2765571177005768]]], "count": [43622400]}, "observation.images.secondary_0": {"max": [[[0.9960784316062927]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0235294122248888]], [[0.0]]], "mean": [[[0.5709246397018433]], [[0.6986618638038635]], [[0.6580769419670105]]], "std": [[[0.2359551191329956]], [[0.25265565514564514]], [[0.25938645005226135]]], "count": [43622400]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.50774747133255]], [[0.49259358644485474]], [[0.4763358235359192]]], "std": [[[0.2180110216140747]], [[0.23223821818828583]], [[0.24561448395252228]]], "count": [43622400]}}}
meta/info.json ADDED
@@ -0,0 +1,153 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100",
3
+ "codebase_version": "v2.1",
4
+ "total_episodes": 1,
5
+ "total_frames": 142,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 12
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6",
29
+ "motor_1_secondary",
30
+ "motor_2_secondary",
31
+ "motor_3_secondary",
32
+ "motor_4_secondary",
33
+ "motor_5_secondary",
34
+ "motor_6_secondary"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "motor_1",
44
+ "motor_2",
45
+ "motor_3",
46
+ "motor_4",
47
+ "motor_5",
48
+ "motor_6",
49
+ "motor_1_secondary",
50
+ "motor_2_secondary",
51
+ "motor_3_secondary",
52
+ "motor_4_secondary",
53
+ "motor_5_secondary",
54
+ "motor_6_secondary"
55
+ ]
56
+ },
57
+ "timestamp": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 1
61
+ ],
62
+ "names": null
63
+ },
64
+ "episode_index": {
65
+ "dtype": "int64",
66
+ "shape": [
67
+ 1
68
+ ],
69
+ "names": null
70
+ },
71
+ "frame_index": {
72
+ "dtype": "int64",
73
+ "shape": [
74
+ 1
75
+ ],
76
+ "names": null
77
+ },
78
+ "task_index": {
79
+ "dtype": "int64",
80
+ "shape": [
81
+ 1
82
+ ],
83
+ "names": null
84
+ },
85
+ "index": {
86
+ "dtype": "int64",
87
+ "shape": [
88
+ 1
89
+ ],
90
+ "names": null
91
+ },
92
+ "observation.images.main": {
93
+ "dtype": "video",
94
+ "shape": [
95
+ 480,
96
+ 640,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channel"
103
+ ],
104
+ "info": {
105
+ "video.fps": 30,
106
+ "video.codec": "avc1",
107
+ "video.pix_fmt": "yuv420p",
108
+ "video.is_depth_map": false,
109
+ "has_audio": false
110
+ }
111
+ },
112
+ "observation.images.secondary_0": {
113
+ "dtype": "video",
114
+ "shape": [
115
+ 480,
116
+ 640,
117
+ 3
118
+ ],
119
+ "names": [
120
+ "height",
121
+ "width",
122
+ "channel"
123
+ ],
124
+ "info": {
125
+ "video.fps": 30,
126
+ "video.codec": "avc1",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "has_audio": false
130
+ }
131
+ },
132
+ "observation.images.secondary_1": {
133
+ "dtype": "video",
134
+ "shape": [
135
+ 480,
136
+ 640,
137
+ 3
138
+ ],
139
+ "names": [
140
+ "height",
141
+ "width",
142
+ "channel"
143
+ ],
144
+ "info": {
145
+ "video.fps": 30,
146
+ "video.codec": "avc1",
147
+ "video.pix_fmt": "yuv420p",
148
+ "video.is_depth_map": false,
149
+ "has_audio": false
150
+ }
151
+ }
152
+ }
153
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"Pick up the roll of duct tape and put it in the bowl."}
videos/chunk-000/observation.images.main/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1fc470a720911f92b4365a6eb64b4bf494d525c58e5b215fb7c3fb8b9862fa27
3
+ size 343957
videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e10083357680eed3451d11bbc4b547a0bfb9cf6509c09c8df739c16bfc65dc3c
3
+ size 741465
videos/chunk-000/observation.images.secondary_1/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ab879a99803899ee132a42ae47b6530cef2830f465b5df06050aaf8e63efeb2
3
+ size 885426