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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# pick_place
+
+**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 sha256:47d835ddc7dae4d9131c8510a5a50e862925fd9dc9baaf0f2eb5222c99530875
+size 23010

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["put the lego bricks in the container"],"length":474}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [-0.16264167095507598, -0.4004667558422154, 1.5343553863686414, 0.7426280070024224, 1.031086819639727, 0.007671776931843207], "min": [-0.17951958020513104, -1.7292185204374588, 0.2869244572509359, 0.6106734437747192, -0.08132083547753799, -0.0260840415682669], "mean": [-0.1683582777321382, -0.8160569470538668, 0.8102399921397253, 0.6733845553783455, 0.4358831741592186, -0.00359311071491388], "std": [0.00512794019076423, 0.5097312468145504, 0.4121775658700284, 0.0626086728803084, 0.39248492159875636, 0.012534030074447396], "count": [474]}, "action": {"max": [-0.16264167095507598, -0.4004667558422154, 1.5343553863686414, 0.7426280070024224, 1.031086819639727, 0.007671776931843207], "min": [-0.17951958020513104, -1.7292185204374588, 0.2869244572509359, 0.6106734437747192, -0.08132083547753799, -0.0260840415682669], "mean": [-0.1683582777321382, -0.8160569470538668, 0.8102399921397253, 0.6733845553783455, 0.4358831741592186, -0.00359311071491388], "std": [0.00512794019076423, 0.5097312468145504, 0.4121775658700284, 0.0626086728803084, 0.39248492159875636, 0.012534030074447396], "count": [474]}, "timestamp": {"max": [19.403582801000084], "min": [0.017346795999401365], "mean": [9.723463209333023], "std": [5.6033293392494645], "count": [474]}, "frame_index": {"max": [473], "min": [0], "mean": [236.5], "std": [136.83170928796685], "count": [474]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [474]}, "index": {"max": [473], "min": [0], "mean": [236.5], "std": [136.83170928796685], "count": [474]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [474]}, "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": [36403200]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 474,
+    "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": [
+                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",
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+                1
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+            "names": null
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+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"put the lego bricks in the container"}