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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# test23
+
+**This dataset was generated using a [phospho starter pack](https://robots.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 and RLDS.

data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:856f5b12ef195d5877ca8a82e239a9806783c816a2db22a20fe8b4102982859b
+size 14768

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["pick up[ the ball"],"length":428}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [-0.06904599238658886, -0.504802922115283, 0.8515672394345959, 0.5769176252746091, 0.28845881263730455, 0.016877909250055056, -0.007671776931843207, 0.1334889186140718, -0.23935944027350806, -1.0709800596853116, 0.004603066159105924, 2.194128202507157], "min": [-0.06904599238658886, -0.504802922115283, 0.8515672394345959, 0.5769176252746091, 0.28845881263730455, 0.016877909250055056, -0.007671776931843207, 0.1334889186140718, -0.23935944027350806, -1.0709800596853116, -0.0030687107727372827, 0.007671776931843207], "mean": [-0.06904599238658828, -0.5048029221152868, 0.8515672394345909, 0.5769176252746053, 0.28845881263730266, 0.016877909250054897, -0.007671776931843174, 0.13348891861407147, -0.23935944027350686, -1.0709800596853216, 0.0012905792969455847, 0.8921559583235318], "std": [1.0454069972337991e-08, 0.0, 6.664001874625056e-08, 7.487740830422111e-08, 3.7438704152110554e-08, 2.7939677238464355e-09, 8.865926770800618e-10, 1.4307248867803454e-08, 2.2351741790771484e-08, 0.0, 0.003622147551794047, 1.0119015420870872], "count": [428]}, "action": {"max": [-0.06904599238658886, -0.504802922115283, 0.8515672394345959, 0.5769176252746091, 0.28845881263730455, 0.016877909250055056, -0.007671776931843207, 0.1334889186140718, -0.23935944027350806, -1.0709800596853116, 0.004603066159105924, 2.194128202507157], "min": [-0.06904599238658886, -0.504802922115283, 0.8515672394345959, 0.5769176252746091, 0.28845881263730455, 0.016877909250055056, -0.007671776931843207, 0.1334889186140718, -0.23935944027350806, -1.0709800596853116, -0.0030687107727372827, 0.007671776931843207], "mean": [-0.06904599238658828, -0.5048029221152868, 0.8515672394345909, 0.5769176252746053, 0.28845881263730266, 0.016877909250054897, -0.007671776931843174, 0.13348891861407147, -0.23935944027350686, -1.0709800596853216, 0.0012905792969455847, 0.8921559583235318], "std": [1.0454069972337991e-08, 0.0, 6.664001874625056e-08, 7.487740830422111e-08, 3.7438704152110554e-08, 2.7939677238464355e-09, 8.865926770800618e-10, 1.4307248867803454e-08, 2.2351741790771484e-08, 0.0, 0.003622147551794047, 1.0119015420870872], "count": [428]}, "timestamp": {"max": [14.398880770997494], "min": [0.0013806290007778443], "mean": [7.203391441347376], "std": [4.165636942066365], "count": [428]}, "frame_index": {"max": [427], "min": [0], "mean": [213.5], "std": [123.5526203688129], "count": [428]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [428]}, "index": {"max": [427], "min": [0], "mean": [213.5], "std": [123.5526203688129], "count": [428]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [428]}, "observation.images.main": {"max": [[[0.0]], [[0.0]], [[0.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0]], [[0.0]], [[0.0]]], "std": [[[0.0]], [[0.0]], [[0.0]]], "count": [32870400]}}}

meta/info.json

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+{
+    "robot_type": "so-100, so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 428,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "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": [
+                12
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_1_secondary",
+                "motor_2_secondary",
+                "motor_3_secondary",
+                "motor_4_secondary",
+                "motor_5_secondary",
+                "motor_6_secondary"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6",
+                "motor_1_secondary",
+                "motor_2_secondary",
+                "motor_3_secondary",
+                "motor_4_secondary",
+                "motor_5_secondary",
+                "motor_6_secondary"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"pick up[ the ball"}