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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# test_dataset
+
+**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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meta/episodes.jsonl

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+{"episode_index":0,"tasks":["None"],"length":327}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.5953298899110329, -0.7671776931843207, 0.08745825702301256, 1.5021339232548998, 0.0015343553863686413, 1.749165140460251], "min": [-0.6950629900249945, -1.3256830538225062, -0.2777183249327241, 0.7901930239798503, 0.0015343553863686413, 0.032221463113741466], "mean": [-0.05781751397808669, -1.1876098379225615, -0.06664357661343685, 1.2675793145277026, 0.0015343553863686455, 1.57983236619949], "std": [0.24447180240263025, 0.14159517789116036, 0.1528624008334297, 0.1952942368248485, 0.0, 0.4431086957064341], "count": [327]}, "action": {"max": [0.5953298899110329, -0.7671776931843207, 0.08745825702301256, 1.5021339232548998, 0.0015343553863686413, 1.749165140460251], "min": [-0.6950629900249945, -1.3256830538225062, -0.2777183249327241, 0.7901930239798503, 0.0015343553863686413, 0.032221463113741466], "mean": [-0.05781751397808669, -1.1876098379225615, -0.06664357661343685, 1.2675793145277026, 0.0015343553863686455, 1.57983236619949], "std": [0.24447180240263025, 0.14159517789116036, 0.1528624008334297, 0.1952942368248485, 0.0, 0.4431086957064341], "count": [327]}, "timestamp": {"max": [16.839230701792985], "min": [0.004066710826009512], "mean": [8.42237594463814], "std": [4.875042727219098], "count": [327]}, "frame_index": {"max": [326], "min": [0], "mean": [163.0], "std": [94.39632761218343], "count": [327]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [327]}, "index": {"max": [326], "min": [0], "mean": [163.0], "std": [94.39632761218343], "count": [327]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [327]}, "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": [25113600]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 327,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "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": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
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+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 30,
+                "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":"None"}

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

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