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Datasets:
yuzhous
/
lekiwi_close_door_button_0908

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
lekiwi
elevator
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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float32
0
11.8
frame_index
int64
0
355
episode_index
int64
0
49
index
int64
0
15.7k
task_index
int64
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[ 1.845703125, 176.66015625, 176.1328125, 14.326171875, -2.4609375, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 190.283203125, 177.978515625, 40.517578125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.1
63
0
63
0
[ 1.845703125, 173.408203125, 176.1328125, 9.052734375, -2.4609375, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 188.173828125, 177.978515625, 37.001953125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.133333
64
0
64
0
[ 1.93359375, 170.244140625, 176.220703125, 3.779296875, -2.4609375, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 185.537109375, 177.978515625, 32.607421875, -1.669921875, 0.6168608665466309, -1.2783173322677612, -2.2141106128692627, -0.5859375 ]
2.166667
65
0
65
0
[ 2.373046875, 167.080078125, 176.30859375, -1.23046875, -2.4609375, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 182.8125, 177.978515625, 28.212890625, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.2
66
0
66
0
[ 2.98828125, 163.828125, 176.484375, -5.712890625, -2.28515625, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 180.3515625, 177.978515625, 24.2578125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.233333
67
0
67
0
[ 3.603515625, 160.400390625, 176.66015625, -9.931640625, -2.197265625, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 177.5390625, 177.978515625, 19.6875, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.266667
68
0
68
0
[ 4.130859375, 156.884765625, 176.66015625, -13.7109375, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 0.52734375, 174.638671875, 177.978515625, 14.765625, -1.669921875, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.3
69
0
69
0
[ 5.009765625, 153.28125, 176.66015625, -16.962890625, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 0.615234375, 171.5625, 177.978515625, 10.107421875, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.333333
70
0
70
0
[ 5.9765625, 149.677734375, 176.30859375, -19.775390625, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 1.23046875, 168.3984375, 177.978515625, 5.537109375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.366667
71
0
71
0
[ 6.85546875, 146.07421875, 176.044921875, -22.32421875, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 2.021484375, 165.234375, 177.978515625, 1.318359375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.4
72
0
72
0
[ 7.734375, 142.470703125, 175.4296875, -25.048828125, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 2.900390625, 161.54296875, 177.978515625, -3.251953125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.433333
73
0
73
0
[ 8.525390625, 138.8671875, 174.638671875, -27.421875, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 3.515625, 158.37890625, 177.978515625, -6.767578125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.466667
74
0
74
0
[ 9.31640625, 135.3515625, 173.671875, -29.53125, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 3.955078125, 154.951171875, 177.978515625, -10.283203125, -1.669921875, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.5
75
0
75
0
[ 9.931640625, 131.66015625, 172.265625, -31.2890625, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 4.5703125, 151.5234375, 177.978515625, -13.7109375, -1.669921875, 0.6168608665466309, 1.2783173322677612, 2.2141106128692627, 0.5859375 ]
2.533333
76
0
76
0
[ 10.546875, 128.056640625, 170.68359375, -32.51953125, -2.373046875, 0.0834028348326683, 0, 0, 0 ]
[ 5.537109375, 147.744140625, 177.802734375, -17.2265625, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.566667
77
0
77
0
[ 11.07421875, 124.541015625, 168.837890625, -33.57421875, -2.28515625, 0.0834028348326683, 0, 0, 0 ]
[ 6.50390625, 144.404296875, 177.5390625, -19.775390625, -1.669921875, 0.6168608665466309, -3.834951877593994, -2.2141106128692627, 9.878761960603163e-17 ]
2.6
78
0
78
0
[ 11.513671875, 121.11328125, 166.728515625, -34.27734375, -2.28515625, 0.0834028348326683, 0, 0, 0 ]
[ 7.294921875, 140.712890625, 177.01171875, -22.412109375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.633333
79
0
79
0
[ 11.953125, 117.7734375, 164.443359375, -34.716796875, -2.197265625, 0.0834028348326683, 0, 0, 0 ]
[ 7.822265625, 137.28515625, 176.220703125, -24.521484375, -1.669921875, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.666667
80
0
80
0
[ 12.3046875, 114.697265625, 161.89453125, -34.716796875, -2.021484375, 0.0834028348326683, 0, 0, 0 ]
[ 8.349609375, 133.330078125, 174.814453125, -26.3671875, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.7
81
0
81
0
[ 12.568359375, 111.533203125, 159.169921875, -34.716796875, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 8.96484375, 129.990234375, 173.3203125, -27.861328125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.733333
82
0
82
0
[ 12.744140625, 108.544921875, 156.4453125, -34.716796875, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 9.4921875, 126.38671875, 171.73828125, -28.916015625, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.766667
83
0
83
0
[ 12.744140625, 105.732421875, 153.720703125, -34.716796875, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 9.931640625, 122.87109375, 169.8046875, -29.70703125, -1.669921875, 0.6168608665466309, 2.5566346645355225, -4.916313162948744e-16, -0.5859375 ]
2.8
84
0
84
0
[ 12.744140625, 103.0078125, 150.99609375, -34.716796875, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 10.37109375, 119.267578125, 167.6953125, -30.322265625, -1.669921875, 0.6168608665466309, -2.5566346645355225, 4.916313162948744e-16, 0.5859375 ]
2.833333
85
0
85
0
[ 12.744140625, 100.37109375, 148.359375, -34.8046875, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 10.634765625, 116.015625, 165.41015625, -30.76171875, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.866667
86
0
86
0
[ 12.744140625, 97.998046875, 145.8984375, -34.8046875, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 10.8984375, 112.67578125, 162.861328125, -31.11328125, -1.669921875, 0.6168608665466309, 1.2783173322677612, 2.2141106128692627, 0.5859375 ]
2.9
87
0
87
0
[ 12.744140625, 95.537109375, 143.4375, -35.068359375, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 10.986328125, 109.6875, 160.3125, -31.376953125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.933333
88
0
88
0
[ 12.744140625, 93.427734375, 141.064453125, -35.15625, -1.93359375, 0.0834028348326683, 0, 0, 0 ]
[ 10.986328125, 106.611328125, 157.67578125, -31.552734375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
2.966667
89
0
89
0
[ 12.744140625, 91.40625, 138.8671875, -35.15625, -1.845703125, 0.0834028348326683, 0, 0, 0 ]
[ 10.986328125, 103.623046875, 155.126953125, -31.81640625, -1.669921875, 0.6168608665466309, 1.2783173322677612, 2.2141106128692627, 0.5859375 ]
3
90
0
90
0
[ 12.744140625, 89.6484375, 136.669921875, -35.15625, -1.845703125, 0.0834028348326683, 0, 0, 0 ]
[ 10.986328125, 100.810546875, 152.666015625, -32.255859375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.033333
91
0
91
0
[ 12.744140625, 88.06640625, 134.736328125, -35.15625, -1.845703125, 0.0834028348326683, 0, 0, 0 ]
[ 10.986328125, 98.173828125, 150.205078125, -32.51953125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.066667
92
0
92
0
[ 12.83203125, 86.572265625, 132.802734375, -35.15625, -1.845703125, 0.0834028348326683, 0, 0, 0 ]
[ 10.986328125, 95.537109375, 147.65625, -32.607421875, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.1
93
0
93
0
[ 13.271484375, 85.078125, 130.95703125, -35.15625, -1.845703125, 0.0834028348326683, 0, 0, 0 ]
[ 11.07421875, 93.251953125, 145.283203125, -32.783203125, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.133333
94
0
94
0
[ 13.53515625, 83.671875, 129.287109375, -35.15625, -1.845703125, 0.0834028348326683, 0, 0, 0 ]
[ 11.07421875, 91.318359375, 142.998046875, -32.87109375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.166667
95
0
95
0
[ 13.623046875, 82.44140625, 127.705078125, -35.15625, -1.845703125, 0.0834028348326683, 0, 0, 0 ]
[ 11.07421875, 89.47265625, 140.80078125, -32.87109375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.2
96
0
96
0
[ 13.798828125, 81.474609375, 126.38671875, -35.15625, -2.021484375, 0.0834028348326683, 0, 0, 0 ]
[ 11.42578125, 87.451171875, 138.427734375, -32.87109375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.233333
97
0
97
0
[ 14.23828125, 80.5078125, 125.244140625, -35.15625, -2.197265625, 0.0834028348326683, 0, 0, 0 ]
[ 11.6015625, 85.95703125, 136.7578125, -32.87109375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.266667
98
0
98
0
[ 14.853515625, 79.453125, 124.1015625, -35.15625, -2.021484375, 0.0834028348326683, 0, 0, 0 ]
[ 11.77734375, 84.19921875, 135.087890625, -32.87109375, -1.669921875, 0.6168608665466309, 0, 0, 0 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "lekiwi",
    "total_episodes": 50,
    "total_frames": 15668,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
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            "shape": [
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            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper",
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                "y_mm",
                "theta"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "shoulder_pan",
                "shoulder_lift",
                "elbow_flex",
                "wrist_flex",
                "wrist_roll",
                "gripper",
                "x_mm",
                "y_mm",
                "theta"
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
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        "observation.images.side": {
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            "names": [
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                "has_audio": false
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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        }
    }
}

Citation

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