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Datasets:
changminbark
/
mars-construction-arm

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
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1
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observation.image
imagewidth (px)
256
256
observation.state
list
action
list
godmode
list
timestamp
float32
0
162
frame_index
int64
0
1.62k
episode_index
int64
0
0
index
int64
0
1.62k
task_index
int64
0
0
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0.1
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0.2
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0.7
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0.9
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1
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1.1
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1.2
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1.3
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1.5
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
38
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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[ 1.8713278770446777, -0.5654415488243103, 3.498547315597534, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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[ 1.8569166660308838, -0.1513388752937317, 3.509556531906128, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
7
70
0
70
0
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[ 0, 0.6689693927764893, -0.49720150232315063, -0.15029683709144592, -1 ]
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7.1
71
0
71
0
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[ 0, 0.6689693927764893, -0.49720150232315063, -0.15029683709144592, -1 ]
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7.2
72
0
72
0
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[ 0, 0.668969452381134, -0.49720150232315063, -0.15029683709144592, -1 ]
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7.3
73
0
73
0
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[ 0, 0.668969452381134, -0.49720150232315063, -0.15029683709144592, -1 ]
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7.4
74
0
74
0
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7.5
75
0
75
0
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[ 0, 0.668969452381134, -0.49720150232315063, -0.15029683709144592, -1 ]
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7.6
76
0
76
0
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7.7
77
0
77
0
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[ 0, 0, 0, 0, 1 ]
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7.8
78
0
78
0
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[ 0, 0, 0, 0, 1 ]
[ 1.839442491531372, -0.11036853492259979, 3.361759662628174, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
7.9
79
0
79
0
[ 0.5840810537338257, -0.008130714297294617, 1.0668573379516602, -1.056508183479309, 0.4000000059604645, 1.839442491531372, -0.11036853492259979, 3.4367597103118896, 1 ]
[ 0, 0, 0, 0, 1 ]
[ 1.839442491531372, -0.11036853492259979, 3.361759662628174, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8
80
0
80
0
[ 0.5840810537338257, -0.008130714297294617, 1.0668573379516602, -1.056508183479309, 0.6000000238418579, 1.839442491531372, -0.11036853492259979, 3.4367597103118896, 0 ]
[ 0, 0, 0, 0, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.1
81
0
81
0
[ 0.5840810537338257, -0.008130714297294617, 1.0668573379516602, -1.056508183479309, 0.800000011920929, 1.839442491531372, -0.11036853492259979, 3.4367597103118896, 0 ]
[ 0, 0, 0, 0, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.2
82
0
82
0
[ 0.5840810537338257, -0.008130714297294617, 1.0668573379516602, -1.056508183479309, 1, 1.839442491531372, -0.11036853492259979, 3.4367597103118896, 0 ]
[ 0, -0.6689693927764893, 0.49720150232315063, 0.15029683709144592, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.3
83
0
83
0
[ 0.5840810537338257, -0.054957278072834015, 1.1018884181976318, -1.0445119142532349, 1, 1.8418318033218384, -0.10878916829824448, 3.458376884460449, 0 ]
[ 0, -0.6689693927764893, 0.49720150232315063, 0.15029697120189667, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.4
84
0
84
0
[ 0.5840810537338257, -0.10179337859153748, 1.1369343996047974, -1.032511591911316, 1, 1.8434326648712158, -0.107730932533741, 3.4799861907958984, 0 ]
[ 0, -0.6689693927764893, 0.49720150232315063, 0.15029683709144592, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.5
85
0
85
0
[ 0.5840810537338257, -0.14863862097263336, 1.1719939708709717, -1.0205072164535522, 1, 1.8442474603652954, -0.10719233751296997, 3.501544713973999, 0 ]
[ 0, -0.6689693927764893, 0.49720150232315063, 0.1502966582775116, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.6
86
0
86
0
[ 0.5840810537338257, -0.19549264013767242, 1.207065463066101, -1.008499026298523, 1, 1.8442801237106323, -0.10717076063156128, 3.5230093002319336, 0 ]
[ 0, -0.6689693927764893, 0.49720150232315063, 0.15029683709144592, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.7
87
0
87
0
[ 0.5840810537338257, -0.242355078458786, 1.242147445678711, -0.9964869022369385, 1, 1.8435362577438354, -0.10766244679689407, 3.544337034225464, 0 ]
[ 0, -0.668969452381134, 0.49720150232315063, 0.15029683709144592, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.8
88
0
88
0
[ 0.5840810537338257, -0.28922560811042786, 1.2772384881973267, -0.9844709634780884, 1, 1.842023253440857, -0.10866256803274155, 3.565485715866089, 0 ]
[ 0, -0.6689693331718445, 0.49720150232315063, 0.15029683709144592, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
8.9
89
0
89
0
[ 0.5840810537338257, -0.3361038565635681, 1.3123373985290527, -0.9724512696266174, 1, 1.8397501707077026, -0.11016517132520676, 3.5864131450653076, 0 ]
[ -0.8871942758560181, -0.0600048266351223, 0.5910093188285828, -0.4646289646625519, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9
90
0
90
0
[ 0.521977424621582, -0.3402596712112427, 1.3536792993545532, -1.0096032619476318, 1, 1.8531148433685303, -0.15309405326843262, 3.581169843673706, 0 ]
[ -0.8871942758560181, -0.0600048266351223, 0.5910093784332275, -0.4646289646625519, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.1
91
0
91
0
[ 0.45987382531166077, -0.34441477060317993, 1.3950215578079224, -1.0467545986175537, 1, 1.8632330894470215, -0.19627079367637634, 3.576322555541992, 0 ]
[ -0.8871942758560181, -0.0600048266351223, 0.5910093784332275, -0.4646289646625519, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.2
92
0
92
0
[ 0.3977702260017395, -0.34856921434402466, 1.4363641738891602, -1.0839053392410278, 1, 1.8701348304748535, -0.23943962156772614, 3.5718798637390137, 0 ]
[ -0.8871942162513733, -0.0600048266351223, 0.5910093784332275, -0.4646289646625519, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.3
93
0
93
0
[ 0.33566662669181824, -0.35272300243377686, 1.4777073860168457, -1.1210553646087646, 1, 1.8738712072372437, -0.2823508679866791, 3.5678505897521973, 0 ]
[ -0.8871942758560181, -0.0600048266351223, 0.5910094380378723, -0.46462902426719666, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.4
94
0
94
0
[ 0.273563027381897, -0.3568761944770813, 1.5190509557724, -1.1582047939300537, 1, 1.8745133876800537, -0.32476288080215454, 3.5642426013946533, 0 ]
[ -0.8871942758560181, -0.0600048266351223, 0.5910094380378723, -0.46462902426719666, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.5
95
0
95
0
[ 0.2114594280719757, -0.36102885007858276, 1.5603952407836914, -1.1953535079956055, 1, 1.8721519708633423, -0.3664434850215912, 3.561062812805176, 0 ]
[ -0.8871942758560181, -0.0600048266351223, 0.5910094380378723, -0.46462902426719666, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.6
96
0
96
0
[ 0.14935582876205444, -0.365181028842926, 1.6017400026321411, -1.2325016260147095, 1, 1.866895318031311, -0.4071718156337738, 3.5583181381225586, 0 ]
[ -0.8871943354606628, -0.0600048191845417, 0.5910094976425171, -0.46462905406951904, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.7
97
0
97
0
[ 0.08725222945213318, -0.36933276057243347, 1.6430854797363281, -1.2696491479873657, 1, 1.8588688373565674, -0.4467396140098572, 3.5560147762298584, 0 ]
[ -0.8871942758560181, -0.0600048191845417, 0.5910094976425171, -0.46462905406951904, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.8
98
0
98
0
[ 0.025148630142211914, -0.3734841048717499, 1.6844314336776733, -1.3067959547042847, 1, 1.8482134342193604, -0.48495256900787354, 3.5541579723358154, 0 ]
[ -0.8871942758560181, -0.0600048191845417, 0.5910095572471619, -0.4646291136741638, 1 ]
[ 1.4700000286102295, -0.8199999928474426, 3.3649964332580566, 1.6399999856948853, -0.10999999940395355, 3.390000104904175 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "mars_pick_place_arm",
    "total_episodes": 1,
    "total_frames": 1625,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "arm_yaw",
                "arm_shoulder",
                "arm_elbow",
                "arm_wrist",
                "gripper",
                "ee_x",
                "ee_y",
                "ee_z",
                "holding"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                5
            ],
            "names": [
                "d_yaw",
                "d_shoulder",
                "d_elbow",
                "d_wrist",
                "gripper"
            ]
        },
        "godmode": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "cube_x",
                "cube_y",
                "cube_z",
                "target_x",
                "target_y",
                "target_z"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

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