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Datasets:
jellyho
/
aloha_dish_drainer

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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jellyho commited on
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·
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  1. README.md +193 -55
README.md CHANGED
@@ -4,10 +4,6 @@ task_categories:
4
  - robotics
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  tags:
6
  - LeRobot
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- - LeRobot
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- - aloha_dish_drainer
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- - rlds
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- - aloha
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  configs:
12
  - config_name: default
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  data_files: data/*/*.parquet
@@ -29,7 +25,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  ```json
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  {
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  "codebase_version": "v3.0",
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- "robot_type": "aloha",
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  "total_episodes": 50,
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  "total_frames": 7145,
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  "total_tasks": 1,
@@ -41,10 +37,102 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "train": "0:50"
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  },
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  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
44
- "video_path": null,
45
  "features": {
46
- "observation.images.agentview_image": {
47
- "dtype": "image",
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  "shape": [
49
  480,
50
  640,
@@ -53,11 +141,21 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
53
  "names": [
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  "height",
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  "width",
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- "rgb"
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- ]
 
 
 
 
 
 
 
 
 
 
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  },
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- "observation.images.right_wrist_image": {
60
- "dtype": "image",
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  "shape": [
62
  240,
63
  320,
@@ -66,11 +164,21 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "names": [
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  "height",
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  "width",
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- "rgb"
70
- ]
 
 
 
 
 
 
 
 
 
 
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  },
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- "observation.images.left_wrist_image": {
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- "dtype": "image",
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  "shape": [
75
  240,
76
  320,
@@ -79,66 +187,96 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
79
  "names": [
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  "height",
81
  "width",
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- "rgb"
83
- ]
 
 
 
 
 
 
 
 
 
 
84
  },
85
- "observation.state": {
86
  "dtype": "float32",
87
  "shape": [
88
- 20
89
  ],
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  "names": {
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  "motors": [
92
- "x",
93
- "y",
94
- "z",
 
 
 
 
95
  "r1",
96
  "r2",
97
  "r3",
98
  "r4",
99
  "r5",
100
  "r6",
101
- "gripper",
102
- "x",
103
- "y",
104
- "z",
105
- "r1",
106
- "r2",
107
- "r3",
108
- "r4",
109
- "r5",
110
- "r6",
111
- "gripper"
112
  ]
113
  }
114
  },
115
- "action": {
116
  "dtype": "float32",
117
  "shape": [
118
  20
119
  ],
120
  "names": {
121
  "motors": [
122
- "x",
123
- "y",
124
- "z",
125
- "r1",
126
- "r2",
127
- "r3",
128
- "r4",
129
- "r5",
130
- "r6",
131
- "gripper",
132
- "x",
133
- "y",
134
- "z",
135
- "r1",
136
- "r2",
137
- "r3",
138
- "r4",
139
- "r5",
140
- "r6",
141
- "gripper"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
142
  ]
143
  }
144
  },
 
4
  - robotics
5
  tags:
6
  - LeRobot
 
 
 
 
7
  configs:
8
  - config_name: default
9
  data_files: data/*/*.parquet
 
25
  ```json
26
  {
27
  "codebase_version": "v3.0",
28
+ "robot_type": null,
29
  "total_episodes": 50,
30
  "total_frames": 7145,
31
  "total_tasks": 1,
 
37
  "train": "0:50"
38
  },
39
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
40
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
41
  "features": {
42
+ "reward": {
43
+ "dtype": "float64",
44
+ "shape": [
45
+ 1
46
+ ]
47
+ },
48
+ "done": {
49
+ "dtype": "bool",
50
+ "shape": [
51
+ 1
52
+ ]
53
+ },
54
+ "observation.state.joint_pos": {
55
+ "dtype": "float32",
56
+ "shape": [
57
+ 14
58
+ ],
59
+ "names": {
60
+ "motors": [
61
+ "l1",
62
+ "l2",
63
+ "l3",
64
+ "l4",
65
+ "l5",
66
+ "l6",
67
+ "l_gripper",
68
+ "r1",
69
+ "r2",
70
+ "r3",
71
+ "r4",
72
+ "r5",
73
+ "r6",
74
+ "r_gripper"
75
+ ]
76
+ }
77
+ },
78
+ "observation.state.ee_6d_pos": {
79
+ "dtype": "float32",
80
+ "shape": [
81
+ 20
82
+ ],
83
+ "names": {
84
+ "motors": [
85
+ "lx",
86
+ "ly",
87
+ "lz",
88
+ "l_c1x",
89
+ "l_c1y",
90
+ "l_c1z",
91
+ "l_c2x",
92
+ "l_c2y",
93
+ "l_c2z",
94
+ "l_gripper",
95
+ "rx",
96
+ "ry",
97
+ "rz",
98
+ "r_c1x",
99
+ "r_c1y",
100
+ "r_c1z",
101
+ "r_c2x",
102
+ "r_c2y",
103
+ "r_c2z",
104
+ "r_gripper"
105
+ ]
106
+ }
107
+ },
108
+ "observation.state.ee_quat_pos": {
109
+ "dtype": "float32",
110
+ "shape": [
111
+ 16
112
+ ],
113
+ "names": {
114
+ "motors": [
115
+ "lx",
116
+ "ly",
117
+ "lz",
118
+ "l_qx",
119
+ "l_qy",
120
+ "l_qz",
121
+ "l_qw",
122
+ "l_gripper",
123
+ "rx",
124
+ "ry",
125
+ "rz",
126
+ "r_qx",
127
+ "r_qy",
128
+ "r_qz",
129
+ "r_qw",
130
+ "r_gripper"
131
+ ]
132
+ }
133
+ },
134
+ "observation.images.agentview": {
135
+ "dtype": "video",
136
  "shape": [
137
  480,
138
  640,
 
141
  "names": [
142
  "height",
143
  "width",
144
+ "channels"
145
+ ],
146
+ "info": {
147
+ "video.fps": 20.0,
148
+ "video.height": 480,
149
+ "video.width": 640,
150
+ "video.channels": 3,
151
+ "video.codec": "av1",
152
+ "video.pix_fmt": "yuv420p",
153
+ "video.is_depth_map": false,
154
+ "has_audio": false
155
+ }
156
  },
157
+ "observation.images.wrist_left": {
158
+ "dtype": "video",
159
  "shape": [
160
  240,
161
  320,
 
164
  "names": [
165
  "height",
166
  "width",
167
+ "channels"
168
+ ],
169
+ "info": {
170
+ "video.fps": 20.0,
171
+ "video.height": 240,
172
+ "video.width": 320,
173
+ "video.channels": 3,
174
+ "video.codec": "av1",
175
+ "video.pix_fmt": "yuv420p",
176
+ "video.is_depth_map": false,
177
+ "has_audio": false
178
+ }
179
  },
180
+ "observation.images.wrist_right": {
181
+ "dtype": "video",
182
  "shape": [
183
  240,
184
  320,
 
187
  "names": [
188
  "height",
189
  "width",
190
+ "channels"
191
+ ],
192
+ "info": {
193
+ "video.fps": 20.0,
194
+ "video.height": 240,
195
+ "video.width": 320,
196
+ "video.channels": 3,
197
+ "video.codec": "av1",
198
+ "video.pix_fmt": "yuv420p",
199
+ "video.is_depth_map": false,
200
+ "has_audio": false
201
+ }
202
  },
203
+ "action.joint_pos": {
204
  "dtype": "float32",
205
  "shape": [
206
+ 14
207
  ],
208
  "names": {
209
  "motors": [
210
+ "l1",
211
+ "l2",
212
+ "l3",
213
+ "l4",
214
+ "l5",
215
+ "l6",
216
+ "l_gripper",
217
  "r1",
218
  "r2",
219
  "r3",
220
  "r4",
221
  "r5",
222
  "r6",
223
+ "r_gripper"
 
 
 
 
 
 
 
 
 
 
224
  ]
225
  }
226
  },
227
+ "action.ee_6d_pos": {
228
  "dtype": "float32",
229
  "shape": [
230
  20
231
  ],
232
  "names": {
233
  "motors": [
234
+ "lx",
235
+ "ly",
236
+ "lz",
237
+ "l_c1x",
238
+ "l_c1y",
239
+ "l_c1z",
240
+ "l_c2x",
241
+ "l_c2y",
242
+ "l_c2z",
243
+ "l_gripper",
244
+ "rx",
245
+ "ry",
246
+ "rz",
247
+ "r_c1x",
248
+ "r_c1y",
249
+ "r_c1z",
250
+ "r_c2x",
251
+ "r_c2y",
252
+ "r_c2z",
253
+ "r_gripper"
254
+ ]
255
+ }
256
+ },
257
+ "action.ee_quat_pos": {
258
+ "dtype": "float32",
259
+ "shape": [
260
+ 16
261
+ ],
262
+ "names": {
263
+ "motors": [
264
+ "lx",
265
+ "ly",
266
+ "lz",
267
+ "l_qx",
268
+ "l_qy",
269
+ "l_qz",
270
+ "l_qw",
271
+ "l_gripper",
272
+ "rx",
273
+ "ry",
274
+ "rz",
275
+ "r_qx",
276
+ "r_qy",
277
+ "r_qz",
278
+ "r_qw",
279
+ "r_gripper"
280
  ]
281
  }
282
  },