---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- H
- u
- a
- i
- h
- a
- i
- L
- y
- u
- /
- m
- i
- x
- e
- d
- _
- g
- r
- o
- c
- e
- r
- i
- e
- s
- _
- b
- a
- g
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 400,
    "total_frames": 288007,
    "total_tasks": 14,
    "total_videos": 1200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:400"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                26
            ],
            "names": {
                "motors": [
                    "left_joint_position1",
                    "left_joint_position2",
                    "left_joint_position3",
                    "left_joint_position4",
                    "left_joint_position5",
                    "left_joint_position6",
                    "left_gripper",
                    "right_joint_position1",
                    "right_joint_position2",
                    "right_joint_position3",
                    "right_joint_position4",
                    "right_joint_position5",
                    "right_joint_position6",
                    "right_gripper",
                    "left_x",
                    "left_y",
                    "left_z",
                    "left_delta_x",
                    "left_delta_y",
                    "left_delta_z",
                    "right_x",
                    "right_y",
                    "right_z",
                    "right_delta_x",
                    "right_delta_y",
                    "right_delta_z"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                26
            ],
            "names": {
                "motors": [
                    "left_joint_position1",
                    "left_joint_position2",
                    "left_joint_position3",
                    "left_joint_position4",
                    "left_joint_position5",
                    "left_joint_position6",
                    "left_gripper",
                    "right_joint_position1",
                    "right_joint_position2",
                    "right_joint_position3",
                    "right_joint_position4",
                    "right_joint_position5",
                    "right_joint_position6",
                    "right_gripper",
                    "left_x",
                    "left_y",
                    "left_z",
                    "left_delta_x",
                    "left_delta_y",
                    "left_delta_z",
                    "right_x",
                    "right_y",
                    "right_z",
                    "right_delta_x",
                    "right_delta_y",
                    "right_delta_z"
                ]
            }
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```