Upload folder using huggingface_hub

README.md

@@ -0,0 +1,15 @@
+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# example_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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3328bf0905642e56e57e2589ac3805baaa46f54684e3c3f759b5ea22e22e405
+size 47242

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index":0,"tasks":["None"],"length":889}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"max": [0.5554366498654482, 1.074048770458049, 0.01074048770458049, 0.5155434098198635, 2.330685831893966, 2.1588380286206785, 0.3667109373421053, 0.4204133758650077, 0.0260840415682669, 0.2332220187280335, 0.28385574647819867, 2.1803190040298395], "min": [0.02148097540916098, 0.24396250643261397, -0.9804530918895619, -0.45570354975148647, -0.1074048770458049, 0.38358884659216036, 0.009206132318211848, -0.18258829097786833, -0.25777170490993173, -0.01227484309094913, -0.0260840415682669, 0.027618396954635544], "mean": [0.2180786732162237, 0.7407743538134939, -0.5846135652834072, 0.03428050245675371, 0.4115265413493613, 1.1759099472777335, 0.17599694877253405, 0.2818156924099359, -0.1426191098332974, 0.05533344621707406, 0.10275348473279905, 2.1257466947366837], "std": [0.17413191353704838, 0.22170811988356928, 0.3366910279768891, 0.2907433308562066, 0.7353827462256644, 0.864407595897659, 0.11717119641181577, 0.19445850177775817, 0.07287486000086768, 0.07382597852434432, 0.090353038907479, 0.30644209971949415], "count": [889]}, "action": {"max": [0.5554366498654482, 1.074048770458049, 0.01074048770458049, 0.5155434098198635, 2.330685831893966, 2.1588380286206785, 0.3667109373421053, 0.4204133758650077, 0.0260840415682669, 0.2332220187280335, 0.28385574647819867, 2.1803190040298395], "min": [0.02148097540916098, 0.24396250643261397, -0.9804530918895619, -0.45570354975148647, -0.1074048770458049, 0.38358884659216036, 0.009206132318211848, -0.18258829097786833, -0.25777170490993173, -0.01227484309094913, -0.0260840415682669, 0.027618396954635544], "mean": [0.2180786732162237, 0.7407743538134939, -0.5846135652834072, 0.03428050245675371, 0.4115265413493613, 1.1759099472777335, 0.17599694877253405, 0.2818156924099359, -0.1426191098332974, 0.05533344621707406, 0.10275348473279905, 2.1257466947366837], "std": [0.17413191353704838, 0.22170811988356928, 0.3366910279768891, 0.2907433308562066, 0.7353827462256644, 0.864407595897659, 0.11717119641181577, 0.19445850177775817, 0.07287486000086768, 0.07382597852434432, 0.090353038907479, 0.30644209971949415], "count": [889]}, "timestamp": {"max": [54.31398954099859], "min": [0.0009458330023335293], "mean": [26.674957076475668], "std": [17.325987856212155], "count": [889]}, "frame_index": {"max": [888], "min": [0], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [889]}, "index": {"max": [888], "min": [0], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [889]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.17370837926864624]], [[0.1632709503173828]], [[0.1381366103887558]]], "std": [[[0.16583287715911865]], [[0.1623329371213913]], [[0.1462644636631012]]], "count": [68275200]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.20781829953193665]], [[0.20195747911930084]], [[0.1784677356481552]]], "std": [[[0.1531573385000229]], [[0.15146282315254211]], [[0.1306278109550476]]], "count": [68275200]}, "observation.images.secondary_1": {"max": [[[1.0]], [[1.0]], [[0.9843137264251709]]], "min": [[[0.007843137718737125]], [[0.0]], [[0.0]]], "mean": [[[0.45372170209884644]], [[0.4015505015850067]], [[0.32561710476875305]]], "std": [[[0.20717878639698029]], [[0.18274369835853577]], [[0.16693010926246643]]], "count": [68275200]}}}

meta/info.json

@@ -0,0 +1,173 @@
+{
+    "robot_type": "so-100, so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 889,
+    "total_tasks": 1,
+    "total_videos": 4,
+    "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
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "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
+            }
+        },
+        "observation.images.secondary_0": {
+            "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
+            }
+        },
+        "observation.images.secondary_1": {
+            "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
+            }
+        },
+        "observation.images.secondary_2": {
+            "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

@@ -0,0 +1 @@
+{"task_index":0,"task":"None"}

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8570c45ac19b4e4739d996b477d0dc29a0c9305e5f0a00b79df6ad7de9849a
+size 1158901

videos/chunk-000/observation.images.secondary_0/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b934b493b5fdbd86b8e7edd4e2dd94d29e138256bc5a9c13d1f0db9de483bc
+size 1029240

videos/chunk-000/observation.images.secondary_1/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d60af02ddec351ca5fe22ca907cb4561ae23b1209b0f0cbbfc768f19d1a27d4c
+size 1522541