Hugging Face's logo

Datasets:
pgoffin
/
ball_anker9

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk
Libraries:
Datasets
Dataset card Data Studio Files
xet
Community
pgoffin commited on
Commit
d9e5438
·
verified ·
1 Parent(s): f5e062b

Upload folder using huggingface_hub

Browse files
Files changed (8) hide show
  1. README.md +15 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. meta/episodes.jsonl +1 -0
  4. meta/info.json +121 -0
  5. meta/stats.json +371 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ---
3
+ tags:
4
+ - phosphobot
5
+ - so100
6
+ - phospho-dk
7
+ task_categories:
8
+ - robotics
9
+ ---
10
+
11
+ # ball_anker9
12
+
13
+ **This dataset was generated using a [phospho starter pack](https://robots.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 and RLDS.
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a63aec273f393bcc85fc5bb05b027ac1d91dc18030d43de9c5771a76e665b15e
3
+ size 13874
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["grasp black ball from the green basket, put ball in the white basket, go back to rest position"],"length":140}
meta/info.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 140,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
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
+ 6
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "motor_1",
38
+ "motor_2",
39
+ "motor_3",
40
+ "motor_4",
41
+ "motor_5",
42
+ "motor_6"
43
+ ]
44
+ },
45
+ "timestamp": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": null
51
+ },
52
+ "episode_index": {
53
+ "dtype": "int64",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "names": null
58
+ },
59
+ "frame_index": {
60
+ "dtype": "int64",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "names": null
65
+ },
66
+ "task_index": {
67
+ "dtype": "int64",
68
+ "shape": [
69
+ 1
70
+ ],
71
+ "names": null
72
+ },
73
+ "index": {
74
+ "dtype": "int64",
75
+ "shape": [
76
+ 1
77
+ ],
78
+ "names": null
79
+ },
80
+ "observation.images.main": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 480,
84
+ 640,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channel"
91
+ ],
92
+ "info": {
93
+ "video.fps": 30,
94
+ "video.codec": "mp4v",
95
+ "video.pix_fmt": "yuv420p",
96
+ "video.is_depth_map": false,
97
+ "has_audio": false
98
+ }
99
+ },
100
+ "observation.images.secondary_0": {
101
+ "dtype": "video",
102
+ "shape": [
103
+ 480,
104
+ 640,
105
+ 3
106
+ ],
107
+ "names": [
108
+ "height",
109
+ "width",
110
+ "channel"
111
+ ],
112
+ "info": {
113
+ "video.fps": 30,
114
+ "video.codec": "mp4v",
115
+ "video.pix_fmt": "yuv420p",
116
+ "video.is_depth_map": false,
117
+ "has_audio": false
118
+ }
119
+ }
120
+ }
121
+ }
meta/stats.json ADDED
@@ -0,0 +1,371 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ 0.8101396440026427,
5
+ 0.8577046609800709,
6
+ 1.4000000000000008,
7
+ 1.6110731556870743,
8
+ 0.11047358781854223,
9
+ 0.7472310731615288
10
+ ],
11
+ "min": [
12
+ 0.02761839695463553,
13
+ -1.570800000000001,
14
+ -1.2857898137769206,
15
+ 1.1967972013675399,
16
+ -0.44189435127416854,
17
+ -0.05523679390927106
18
+ ],
19
+ "mean": [
20
+ 0.4213668681408229,
21
+ -0.3052388193963992,
22
+ 0.08173794628906055,
23
+ 1.4019514762063603,
24
+ -0.2368825522926561,
25
+ 0.325217583822165
26
+ ],
27
+ "std": [
28
+ 0.2945398017085901,
29
+ 0.8811719316303407,
30
+ 0.9500861434069818,
31
+ 0.13744451500724283,
32
+ 0.15252312683165298,
33
+ 0.33850024352498587
34
+ ],
35
+ "sum": [
36
+ 58.99136153971521,
37
+ -42.73343471549589,
38
+ 11.443312480468476,
39
+ 196.27320666889045,
40
+ -33.163557320971854,
41
+ 45.530461735103096
42
+ ],
43
+ "square_sum": [
44
+ 37.00252253002777,
45
+ 121.74885939435148,
46
+ 127.30826804605077,
47
+ 277.81025108798764,
48
+ 11.112730691886242,
49
+ 30.84884483710423
50
+ ],
51
+ "count": 140
52
+ },
53
+ "action": {
54
+ "max": [
55
+ 0.8101396440026427,
56
+ 0.8577046609800709,
57
+ 1.4000000000000008,
58
+ 1.6110731556870743,
59
+ 0.11047358781854223,
60
+ 0.7472310731615288
61
+ ],
62
+ "min": [
63
+ 0.02761839695463553,
64
+ -1.570800000000001,
65
+ -1.2857898137769206,
66
+ 1.1967972013675399,
67
+ -0.44189435127416854,
68
+ -0.05523679390927106
69
+ ],
70
+ "mean": [
71
+ 0.4213668681408229,
72
+ -0.3052388193963992,
73
+ 0.08173794628906055,
74
+ 1.4019514762063603,
75
+ -0.2368825522926561,
76
+ 0.325217583822165
77
+ ],
78
+ "std": [
79
+ 0.2945398017085901,
80
+ 0.8811719316303407,
81
+ 0.9500861434069818,
82
+ 0.13744451500724283,
83
+ 0.15252312683165298,
84
+ 0.33850024352498587
85
+ ],
86
+ "sum": [
87
+ 58.99136153971521,
88
+ -42.73343471549589,
89
+ 11.443312480468476,
90
+ 196.27320666889045,
91
+ -33.163557320971854,
92
+ 45.530461735103096
93
+ ],
94
+ "square_sum": [
95
+ 37.00252253002777,
96
+ 121.74885939435148,
97
+ 127.30826804605077,
98
+ 277.81025108798764,
99
+ 11.112730691886242,
100
+ 30.84884483710423
101
+ ],
102
+ "count": 140
103
+ },
104
+ "timestamp": {
105
+ "max": [
106
+ 21.939636700000847
107
+ ],
108
+ "min": [
109
+ 0.08515550001175143
110
+ ],
111
+ "mean": [
112
+ 10.945050756441196
113
+ ],
114
+ "std": [
115
+ 6.376111775347291
116
+ ],
117
+ "sum": [
118
+ 1532.3071059017675
119
+ ],
120
+ "square_sum": [
121
+ 22462.851240591495
122
+ ],
123
+ "count": 140
124
+ },
125
+ "frame_index": {
126
+ "max": [
127
+ 139
128
+ ],
129
+ "min": [
130
+ 0
131
+ ],
132
+ "mean": [
133
+ 69.5
134
+ ],
135
+ "std": [
136
+ 40.413487847499624
137
+ ],
138
+ "sum": [
139
+ 9730
140
+ ],
141
+ "square_sum": [
142
+ 904890
143
+ ],
144
+ "count": 140
145
+ },
146
+ "episode_index": {
147
+ "max": [
148
+ 0
149
+ ],
150
+ "min": [
151
+ 0
152
+ ],
153
+ "mean": [
154
+ 0.0
155
+ ],
156
+ "std": [
157
+ 0.0
158
+ ],
159
+ "sum": [
160
+ 0
161
+ ],
162
+ "square_sum": [
163
+ 0
164
+ ],
165
+ "count": 140
166
+ },
167
+ "index": {
168
+ "max": [
169
+ 139
170
+ ],
171
+ "min": [
172
+ 0
173
+ ],
174
+ "mean": [
175
+ 69.5
176
+ ],
177
+ "std": [
178
+ 40.413487847499624
179
+ ],
180
+ "sum": [
181
+ 9730
182
+ ],
183
+ "square_sum": [
184
+ 904890
185
+ ],
186
+ "count": 140
187
+ },
188
+ "task_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": [
199
+ 0.0
200
+ ],
201
+ "sum": [
202
+ 0
203
+ ],
204
+ "square_sum": [
205
+ 0
206
+ ],
207
+ "count": 140
208
+ },
209
+ "observation.images.main": {
210
+ "max": [
211
+ [
212
+ [
213
+ 1.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "min": [
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.0
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.0
241
+ ]
242
+ ]
243
+ ],
244
+ "mean": [
245
+ [
246
+ [
247
+ 0.48729264322916666
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.5304890252976191
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.5340498511904762
258
+ ]
259
+ ]
260
+ ],
261
+ "std": [
262
+ [
263
+ [
264
+ 0.23707557239697036
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.24723257119966272
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.26063461949812083
275
+ ]
276
+ ]
277
+ ],
278
+ "sum": [
279
+ 20957482.0,
280
+ 22815272.0,
281
+ 22968416.0
282
+ ],
283
+ "square_sum": [
284
+ 12629684.0,
285
+ 14732070.0,
286
+ 15187830.0
287
+ ],
288
+ "count": 43008000
289
+ },
290
+ "observation.images.secondary_0": {
291
+ "max": [
292
+ [
293
+ [
294
+ 1.0
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 1.0
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 1.0
305
+ ]
306
+ ]
307
+ ],
308
+ "min": [
309
+ [
310
+ [
311
+ 0.0
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.0
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.0
322
+ ]
323
+ ]
324
+ ],
325
+ "mean": [
326
+ [
327
+ [
328
+ 0.45255231584821426
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 0.4734081566220238
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.48420828683035716
339
+ ]
340
+ ]
341
+ ],
342
+ "std": [
343
+ [
344
+ [
345
+ 0.2640012887057092
346
+ ]
347
+ ],
348
+ [
349
+ [
350
+ 0.24942698091072146
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.2334172266690742
356
+ ]
357
+ ]
358
+ ],
359
+ "sum": [
360
+ 19463370.0,
361
+ 20360338.0,
362
+ 20824830.0
363
+ ],
364
+ "square_sum": [
365
+ 11805708.0,
366
+ 12314442.0,
367
+ 12426786.0
368
+ ],
369
+ "count": 43008000
370
+ }
371
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"grasp black ball from the green basket, put ball in the white basket, go back to rest position"}
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 sha256:4e08f1b9db4919f6b39c18be978546cee59a41dbc9a6ea810b3120fc72e9c366
3
+ size 2507884
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:a6f192675a8a35d4ab77523f88f334e858d14c490118c11329c7383cebea3d27
3
+ size 2248433