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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# example_dataset_wooden
+
+**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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+size 19953

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["grab the airpods"],"length":921}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [-0.35443609425115613, 0.9559034057076635, 0.2408937956598767, 1.7123406111874038, -0.009206132318211848, 1.069445704298943], "min": [-0.35443609425115613, 0.9559034057076635, 0.2408937956598767, 1.7123406111874038, -0.009206132318211848, 1.069445704298943], "mean": [-0.3544360942511621, 0.9559034057076592, 0.24089379565987365, 1.7123406111873738, -0.009206132318212013, 1.0694457042989365], "std": [0.0, 0.0, 4.8357080615115055e-08, 2.7957056521316944e-07, 0.0, 1.3075715880680267e-07], "count": [921]}, "action": {"max": [-0.35443609425115613, 0.9559034057076635, 0.2408937956598767, 1.7123406111874038, -0.009206132318211848, 1.069445704298943], "min": [-0.35443609425115613, 0.9559034057076635, 0.2408937956598767, 1.7123406111874038, -0.009206132318211848, 1.069445704298943], "mean": [-0.3544360942511621, 0.9559034057076592, 0.24089379565987365, 1.7123406111873738, -0.009206132318212013, 1.0694457042989365], "std": [0.0, 0.0, 4.8357080615115055e-08, 2.7957056521316944e-07, 0.0, 1.3075715880680267e-07], "count": [921]}, "timestamp": {"max": [33.08950791700045], "min": [0.000953125003434252], "mean": [16.35817580897145], "std": [9.633334247804056], "count": [921]}, "frame_index": {"max": [920], "min": [0], "mean": [460.0], "std": [265.8696422434624], "count": [921]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [921]}, "index": {"max": [920], "min": [0], "mean": [460.0], "std": [265.8696422434624], "count": [921]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [921]}, "observation.images.main": {"max": [[[1.0]], [[0.9176470637321472]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.2789790630340576]], [[0.2127079963684082]], [[0.5090458989143372]]], "std": [[[0.13229237496852875]], [[0.11359560489654541]], [[0.2312697321176529]]], "count": [848793600]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 921,
+    "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
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+            "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
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+        "task_index": {
+            "dtype": "int64",
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+                1
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+            "names": null
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+        "index": {
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+            "shape": [
+                1
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+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                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":"grab the airpods"}

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

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