---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- aloha_box_into_pot
- rlds
- aloha
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": "v3.0",
    "robot_type": "aloha",
    "total_episodes": 60,
    "total_frames": 8586,
    "total_tasks": 6,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:60"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.images.agentview_image": {
            "dtype": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ]
        },
        "observation.images.right_wrist_image": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ]
        },
        "observation.images.left_wrist_image": {
            "dtype": "image",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                20
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "r1",
                    "r2",
                    "r3",
                    "r4",
                    "r5",
                    "r6",
                    "gripper",
                    "x",
                    "y",
                    "z",
                    "r1",
                    "r2",
                    "r3",
                    "r4",
                    "r5",
                    "r6",
                    "gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                20
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "r1",
                    "r2",
                    "r3",
                    "r4",
                    "r5",
                    "r6",
                    "gripper",
                    "x",
                    "y",
                    "z",
                    "r1",
                    "r2",
                    "r3",
                    "r4",
                    "r5",
                    "r6",
                    "gripper"
                ]
            }
        },
        "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
        }
    }
}
```


## Citation

**BibTeX:**

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