---
configs:
- config_name: default
  data_files:
  - split: train
    path:
    - data/chunk-000/*.parquet
    - data/chunk-001/*.parquet
language:
- en
license: apache-2.0
pretty_name: BlockPAP-v1 MimicGen
---
> BlockPAP-v01MimicGen  
> `LeRobot v2.1` dataset for `BlockPAP-v1` MimicGen trajectories.

<br>

# ❗️ State Alignment between Simulation and Real Robot

* In this version of the MimicGen dataset, corresponding biases have been applied to `state[2]` and `state[5]` during data generation, unifying the distributions of sim into the states required for a real robot.