Lemon-03/il_aloha_hammer_strikes_table_v0

🤖 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.

🎥 Dataset Preview

Overhead Cam  |  Left Wrist  |  Right Wrist

📋 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).

📊 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.

💻 How to use with LeRobot

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

# 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']

📂 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
        }
    }
}