markmau2 commited on
Commit
441846a
·
verified ·
1 Parent(s): 719072d

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
+ # TestCameras3
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 sha256:5f75752496b3779f74a70faec5a09886d87e793d6457af43c2508fe23b5fd046
3
+ size 7154
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["Test with Dual ARM SO-101"],"length":22}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"max": [0.1334889186140718, 0.12121407552312266, 1.5374240971413786, 1.2719806152996036, -0.36210787118299936, 0.7426280070024224, -0.032221463113741466, 0.44342870666053735, 1.5282179648231669, 1.4039351785273069, -0.004603066159105924, 0.009206132318211848], "min": [-0.06904599238658886, -1.762974338937569, -0.5308869636835499, 0.5891924683655583, -0.8914604794801806, 0.013809198477317772, -0.260840415682669, -1.7829209589603612, -0.5232151867517068, 0.08592390163664392, -0.009206132318211848, 0.009206132318211848], "mean": [-0.0023015330795529603, -0.9914028098741017, 0.7230998475395489, 1.1416998943115755, -0.5817299217136745, 0.14450838002526478, -0.06521010392066726, -1.3482101806314637, 1.0775359417907049, 1.1526496122961147, -0.008090237491761925, 0.00920613231821185], "std": [0.05678387133314818, 0.855450232559235, 0.928455626052062, 0.241098012511512, 0.22034059005916168, 0.23157061093757783, 0.065898976533227, 0.7855454660253195, 0.757764163234491, 0.31700112154853904, 0.0016796441365852428, 0.0], "count": [22]}, "action": {"max": [0.1334889186140718, 0.12121407552312266, 1.5374240971413786, 1.2719806152996036, -0.36210787118299936, 0.7426280070024224, -0.032221463113741466, 0.44342870666053735, 1.5282179648231669, 1.4039351785273069, -0.004603066159105924, 0.009206132318211848], "min": [-0.06904599238658886, -1.762974338937569, -0.5308869636835499, 0.5891924683655583, -0.8914604794801806, 0.013809198477317772, -0.260840415682669, -1.7829209589603612, -0.5232151867517068, 0.08592390163664392, -0.009206132318211848, 0.009206132318211848], "mean": [-0.0023015330795529603, -0.9914028098741017, 0.7230998475395489, 1.1416998943115755, -0.5817299217136745, 0.14450838002526478, -0.06521010392066726, -1.3482101806314637, 1.0775359417907049, 1.1526496122961147, -0.008090237491761925, 0.00920613231821185], "std": [0.05678387133314818, 0.855450232559235, 0.928455626052062, 0.241098012511512, 0.22034059005916168, 0.23157061093757783, 0.065898976533227, 0.7855454660253195, 0.757764163234491, 0.31700112154853904, 0.0016796441365852428, 0.0], "count": [22]}, "timestamp": {"max": [17.608416098999896], "min": [0.029764231000172003], "mean": [8.545393372681866], "std": [5.245852242816921], "count": [22]}, "frame_index": {"max": [21], "min": [0], "mean": [10.5], "std": [6.34428877022476], "count": [22]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [22]}, "index": {"max": [21], "min": [0], "mean": [10.5], "std": [6.34428877022476], "count": [22]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [22]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.3441510498523712]], [[0.3283296525478363]], [[0.3396364152431488]]], "std": [[[0.27286216616630554]], [[0.2657448649406433]], [[0.2473970651626587]]], "count": [45619200]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.3290715217590332]], [[0.32579609751701355]], [[0.34057146310806274]]], "std": [[[0.1971014440059662]], [[0.19470365345478058]], [[0.18914251029491425]]], "count": [45619200]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.3768395781517029]], [[0.3780950605869293]], [[0.4013942778110504]]], "std": [[[0.2215309888124466]], [[0.21974046528339386]], [[0.20571567118167877]]], "count": [45619200]}}}
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": 22,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 60,
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
+ 1080,
96
+ 1920,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channel"
103
+ ],
104
+ "info": {
105
+ "video.fps": 60,
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
+ 1080,
116
+ 1920,
117
+ 3
118
+ ],
119
+ "names": [
120
+ "height",
121
+ "width",
122
+ "channel"
123
+ ],
124
+ "info": {
125
+ "video.fps": 60,
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
+ 1080,
136
+ 1920,
137
+ 3
138
+ ],
139
+ "names": [
140
+ "height",
141
+ "width",
142
+ "channel"
143
+ ],
144
+ "info": {
145
+ "video.fps": 60,
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":"Test with Dual ARM SO-101"}
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 sha256:669bf50502fb61f2fbeef5e438db1b14272933402a4b4a18499d464bbadedf8a
3
+ size 877999
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:f1e293870909367e9b29d2eb61de49a93b1d6bbffaa14f9a68f280af798682da
3
+ size 993172
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:ba64252a478f07c764b4d73061f39ef2e6fc74edd10923c06582eed8fe23c70e
3
+ size 980167