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:a43538bdee623db052aed834f45dd7005aba0dc754b1bb9075a8df16917aa5e1
+size 21161

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index":0,"tasks":["None"],"length":371}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"max": [0.480253235933385, 0.49252807902433376, 1.3533014507771428, 1.6700000000000008, 0.12735149706859727, 0.7744924977934682], "min": [-0.11200794320491088, -1.570800000000001, -0.4234820866377452, 0.4127415989331646, -0.31607720959193986, -1.1069256659936566e-16], "mean": [0.07047695455285181, -1.0012311631234627, 0.8555416748154591, 1.197047122257552, 0.007481533406848717, 0.12955491110830927], "std": [0.18330792005991936, 0.7671246896971018, 0.6243447290473172, 0.27080047571267296, 0.059249210091105314, 0.23618507023937022], "count": [371]}, "action": {"max": [0.480253235933385, 0.49252807902433376, 1.3533014507771428, 1.6700000000000008, 0.12735149706859727, 0.7744924977934682], "min": [-0.11200794320491088, -1.570800000000001, -0.4234820866377452, 0.4127415989331646, -0.31607720959193986, -1.1069256659936566e-16], "mean": [0.07047695455285181, -1.0012311631234627, 0.8555416748154591, 1.197047122257552, 0.007481533406848717, 0.12955491110830927], "std": [0.18330792005991936, 0.7671246896971018, 0.6243447290473172, 0.27080047571267296, 0.059249210091105314, 0.23618507023937022], "count": [371]}, "timestamp": {"max": [20.493560619011987], "min": [0.05100734002189711], "mean": [10.283309795966213], "std": [5.901578923636344], "count": [371]}, "frame_index": {"max": [370], "min": [0], "mean": [185.0], "std": [107.09808588392231], "count": [371]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [371]}, "index": {"max": [370], "min": [0], "mean": [185.0], "std": [107.09808588392231], "count": [371]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [371]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4276808500289917]], [[0.43016859889030457]], [[0.41684791445732117]]], "std": [[[0.21987278759479523]], [[0.2170764058828354]], [[0.22000734508037567]]], "count": [28492800]}, "observation.images.secondary_0": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4462495446205139]], [[0.444621741771698]], [[0.4445721507072449]]], "std": [[[0.2241956740617752]], [[0.21385374665260315]], [[0.22842463850975037]]], "count": [28492800]}}}

meta/info.json

@@ -0,0 +1,121 @@
+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 371,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "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
+        },
+        "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
+            }
+        }
+    }
+}

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 sha256:3865578b356e42474de381699257b986e0b41693642c42d8e2a62c3b043e3ea7
+size 350724

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f915b2a7c92534ccd0a5c7c520ba3d634f2f2d5cd0f55e913d00b83fb00d8e
+size 951966