---
tags:
- lerobot
- robotics
- aloha
- simulation
- gym_aloha
- transfer_cube
task_categories:
- robotics
size_categories:
- 1K<n<10K
---

# ALOHA Simulation Dataset - Transfer Cube

This dataset was collected from the gym_aloha simulation environment.

## Dataset Description

- **Environment**: gym_aloha/AlohaTransferCube-v0
- **Task**: Transfer cube from one location to another
- **Episodes**: 10
- **FPS**: 50
- **Total Frames**: 3000

## Features

- `observation.image`: RGB image from top camera (480x640x3)
- `observation.state`: Robot joint positions (14 dimensions)
- `action`: Robot actions (14 dimensions)
- `episode_index`: Episode number
- `frame_index`: Frame number within episode
- `timestamp`: Time in seconds

## Robot Configuration

The ALOHA robot has 14 degrees of freedom:
- Left arm: 6 joints + 1 gripper
- Right arm: 6 joints + 1 gripper

## Usage

```python
from datasets import load_dataset

dataset = load_dataset("nock0912/aloha_sim_cube_dataset")
print(dataset)
```

## Citation

If you use this dataset, please cite the LeRobot project.