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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# jenga-on-box-May24
+
+**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 22353

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Put the jenga piece on the box"],"length":352}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.251634283364457, 0.39586368968310953, 1.545095874073222, 1.6700000000000008, 0.21327539870524131, 0.5539022944790799], "min": [-0.03068710772737284, -1.7997988682104162, -0.6428949068884612, 0.7779181808888992, -0.1212140755231226, -0.001534355386368864], "mean": [0.09003004584615101, -1.0819791454685606, 0.9216638416815754, 1.1570514445299864, 0.06561984661419948, 0.13348455963937103], "std": [0.09062270651514209, 0.7199846769411447, 0.702426155103146, 0.23169765799940226, 0.09731634324481869, 0.18983348331471958], "count": [352]}, "action": {"max": [0.251634283364457, 0.39586368968310953, 1.545095874073222, 1.6700000000000008, 0.21327539870524131, 0.5539022944790799], "min": [-0.03068710772737284, -1.7997988682104162, -0.6428949068884612, 0.7779181808888992, -0.1212140755231226, -0.001534355386368864], "mean": [0.09003004584615101, -1.0819791454685606, 0.9216638416815754, 1.1570514445299864, 0.06561984661419948, 0.13348455963937103], "std": [0.09062270651514209, 0.7199846769411447, 0.702426155103146, 0.23169765799940226, 0.09731634324481869, 0.18983348331471958], "count": [352]}, "timestamp": {"max": [19.362276666997786], "min": [0.00422529199931887], "mean": [9.965723376032594], "std": [5.469980074856448], "count": [352]}, "frame_index": {"max": [351], "min": [0], "mean": [175.5], "std": [101.61323732663968], "count": [352]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [352]}, "index": {"max": [351], "min": [0], "mean": [175.5], "std": [101.61323732663968], "count": [352]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [352]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4770375754616477]], [[0.47826919093276515]], [[0.47038489139441286]]], "std": [[[0.21452752332037026]], [[0.1955773748864927]], [[0.22140585864830778]]], "count": [27033600]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 352,
+    "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": [
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+            "names": null
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+        "episode_index": {
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+            "shape": [
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+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
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+        "task_index": {
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+        "index": {
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+            "shape": [
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+            "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":"Put the jenga piece on the box"}

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

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