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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# vr_record_12
+
+**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 6249

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Pick up the lego brick and put in the box"],"length":79}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.0, -1.2794066669714014e-37, 6.5319974987464144e-21, 0.5000000000000006], "min": [0.0, -1.2794066669714014e-37, 6.5319974987464144e-21, 0.5000000000000006], "mean": [0.0, -1.2794066669714037e-37, 6.531997498746411e-21, 0.5000000000000002], "std": [0.0, 0.0, 2.2578516593487376e-28, 7.450580596923828e-09], "count": [79]}, "action": {"max": [0.0, -1.2794066669714014e-37, 6.5319974987464144e-21, 0.5000000000000006], "min": [0.0, -1.2794066669714014e-37, 6.5319974987464144e-21, 0.5000000000000006], "mean": [0.0, -1.2794066669714037e-37, 6.531997498746411e-21, 0.5000000000000002], "std": [0.0, 0.0, 2.2578516593487376e-28, 7.450580596923828e-09], "count": [79]}, "timestamp": {"max": [3.1108969589986373], "min": [0.003591458997107111], "mean": [1.5494323331268454], "std": [0.9097803481046672], "count": [79]}, "frame_index": {"max": [78], "min": [0], "mean": [39.0], "std": [22.80350850198276], "count": [79]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [79]}, "index": {"max": [78], "min": [0], "mean": [39.0], "std": [22.80350850198276], "count": [79]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [79]}, "observation.images.main": {"max": [[[1.0]], [[0.9960784316062927]], [[0.9450980424880981]]], "min": [[[0.0]], [[0.0117647061124444]], [[0.003921568859368563]]], "mean": [[[0.5473126173019409]], [[0.5377258062362671]], [[0.5109218955039978]]], "std": [[[0.17878521978855133]], [[0.1754896491765976]], [[0.16420866549015045]]], "count": [6067200]}}}

meta/info.json

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+{
+    "robot_type": "urdf_loader",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 79,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 26,
+    "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": [
+                4
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
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+        "episode_index": {
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 26,
+                "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":"Pick up the lego brick and put in the box"}

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

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