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observation.state
list
action
list
timestamp
float32
0
53.2
frame_index
int64
0
2.66k
episode_index
int64
0
49
index
int64
0
133k
task_index
int64
0
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1.14
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1.38
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1.4
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1.42
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[ -0.0022618970833718777, 0.000001242091684616753, 0.0004145083366893232, -0.000017393214875482954, -0.010096510872244835, -0.000042545121686998755, 0.03700000047683716, 0.040062058717012405, 0.0008311792626045644, 0.01744634285569191, -0.008069352246820927, -0.1999949812889099, 0.0039251395501196384, 0.03700020909309387 ]
[ 1.284280699564988e-7, -1.5004732608795166, 1.5024971961975098, -0.00002864499037968926, 0.3026462495326996, 0.0000070143237280717585, 0.03700000047683716, -0.009556538425385952, -1.1805598735809326, 1.2577837705612183, -0.00002864499037968926, 0.3902229070663452, -0.00014965234731789678, 0.03700000047683716 ]
1.94
97
0
97
0
[ -0.0022557214833796024, 0.000001235874833582784, 0.00041310072992928326, -0.00001730881012917962, -0.010065149515867233, -0.00004233477739035152, 0.03700000047683716, 0.041507698595523834, 0.0008579178829677403, 0.01789797469973564, -0.008260718546807766, -0.20206382870674133, 0.004029046278446913, 0.03700029477477074 ]
[ 1.2792044401521707e-7, -1.5004713535308838, 1.502487301826477, -0.000028531769203254953, 0.3026357889175415, 0.0000069865991463302635, 0.03700000047683716, -0.0097598722204566, -1.1737513542175293, 1.2525672912597656, -0.000028531769203254953, 0.392075777053833, -0.00015301340317819268, 0.03700000047683716 ]
1.96
98
0
98
0
[ -0.0022493205033242702, 0.000001231713440574822, 0.0004116362542845309, -0.000017252757970709354, -0.010033377446234226, -0.00004222094139549881, 0.03700000047683716, 0.04295686259865761, 0.0008850495796650648, 0.018365057185292244, -0.008451458066701889, -0.20415976643562317, 0.004132671281695366, 0.037000373005867004 ]
[ 1.2741283228479006e-7, -1.5004695653915405, 1.5024774074554443, -0.000028418548026820645, 0.3026253283023834, 0.000006958874564588768, 0.03700000047683716, -0.009963206015527248, -1.166942834854126, 1.2473506927490234, -0.000028418548026820645, 0.3939286768436432, -0.00015637445903848857, 0.03700000047683716 ]
1.98
99
0
99
0
End of preview. Expand in Data Studio

πŸ€– Aloha Hammer Strikes (Simulation) - 240P

This dataset contains 50 expert episodes of the Aloha robot performing a dual-arm coordination task: Hammer Strikes. The data was collected in a MuJoCo simulation environment using a scripted expert policy.

πŸŽ₯ Dataset Preview

Overhead Cam  |  Left Wrist  |  Right Wrist

πŸ“‹ Task Description

  • Task: The robot uses dual-arm coordination to complete a tool-use task.
    1. Pick: The right arm approaches and grasps the hammer.
    2. Handover: The right arm hands the hammer over to the left arm.
    3. Strike: The left arm firmly grasps the hammer and strikes a nail on the table 3 times.
  • Success Rate: 100% (Collected via a verified expert script).
  • Environment: Custom HammerEnv (MuJoCo).
  • Robot: ALOHA (Bi-manual).

πŸ“Š Dataset Details

  • Resolution: 360x240 (240P) - Optimized for memory efficiency during training.
  • Frame Rate: 50 FPS.
  • Total Frames: 133,000 (approx. 2,660 frames per episode).
  • Total Episodes: 50.
  • Note: The expert policy was executed at a reduced speed (slow-motion) to ensure physics stability and grasp success rates in the simulation. This results in higher frame counts per episode but guarantees high-quality interaction data.

πŸ’» How to use with LeRobot

from lerobot.datasets.lerobot_dataset import LeRobotDataset <---(Lerobto v4.3.0οΌ‰

# Load the dataset
dataset = LeRobotDataset("Lemon-03/il_aloha_hammer_strikes_table")

# Check content
print(f"Total episodes: {dataset.num_episodes}")
print(f"Cameras: {dataset.camera_keys}") # ['overhead_cam', 'wrist_cam_left', 'wrist_cam_right']

πŸ“‚ Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "aloha",
    "total_episodes": 50,
    "total_frames": 133000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 50,
    "splits": {
        "train": "0:50"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_px",
                "left_py",
                "left_pz",
                "left_rx",
                "left_ry",
                "left_rz",
                "left_gripper",
                "right_px",
                "right_py",
                "right_pz",
                "right_rx",
                "right_ry",
                "right_rz",
                "right_gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_px",
                "left_py",
                "left_pz",
                "left_rx",
                "left_ry",
                "left_rz",
                "left_gripper",
                "right_px",
                "right_py",
                "right_pz",
                "right_rx",
                "right_ry",
                "right_rz",
                "right_gripper"
            ]
        },
        "observation.images.overhead_cam": {
            "dtype": "video",
            "shape": [
                240,
                360,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 240,
                "video.width": 360,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_cam_left": {
            "dtype": "video",
            "shape": [
                240,
                360,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 240,
                "video.width": 360,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_cam_right": {
            "dtype": "video",
            "shape": [
                240,
                360,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 240,
                "video.width": 360,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
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