RoboCOIN/Agilex_Cobot_Magic_Agilex_Cobot_Magic_stack_block

Agilex_Cobot_Magic_stack_block

Dataset Description

This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.

Task Preview

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Overview

• Total Episodes: 672

• Total Frames: 643028

• FPS: 30

• Dataset Size: 3.97 GB

• Robot Name: Agilex_Cobot_Magic

• End-Effector Type: two_finger_gripper

• Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.

• Sensors: cam_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb

• Camera Information: cam_head_rgb; cam_left_wrist_rgb; cam_right_wrist_rgb

• Scene: household->living_room

• Objects: table(unknown), square_building_blocks(unknown)

• Task Description: According to the building block template in front, assemble the scattered blocks together.

Primary Task Instruction

According to the building block template in front, assemble the scattered blocks together.

Robot Configuration

• Robot Name: Agilex_Cobot_Magic
• Codebase Version: v2.1
• End-Effector Type: two_finger_gripper
• Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.

Scene and Objects

Scene Type

household->living_room

Objects

• table(unknown)
• square_building_blocks(unknown)

Task Descriptions

• Standardized Task Description: According to the building block template in front, assemble the scattered blocks together.

• Operation Type: Due to some reasons, this dataset temporarily cannot provide the operation type information.

• Environment Type: Due to some reasons, this dataset temporarily cannot provide the environment type information.

Sub-Tasks

This dataset includes 384 distinct subtasks:

1. **Put the yellow build block on the blue build block ** (Index: 0)
2. **Put the orange build block on the left of the blue build block ** (Index: 1)
3. **Put the red build block on the right of the yellow build block ** (Index: 2)
4. **Put the orange build block on the right of the yellow build block ** (Index: 3)
5. Put the green cube on the left of the blue cube with the left gripper (Index: 4)
6. **Put the yellow build block on the blue build block ** (Index: 5)
7. **Put the green build block on the right of the blue build block ** (Index: 6)
8. **Put the red build block on the blue build block ** (Index: 7)
9. **Put the yellow build block on the right of the red build block ** (Index: 8)
10. **Put the red build block on the behind of the green' build block ** (Index: 9)
11. **Put the blue build block on the behind of the orange build block ** (Index: 10)
12. Put the orange cube on the behind of the red cube (Index: 11)
13. Put the blue cube on the behind of the red cube (Index: 12)
14. Put the blue cube on the right of the green cube (Index: 13)
15. Put the green cube on the left of the yellow cube with the right gripper (Index: 14)
16. Grasp the green block with left gripper (Index: 15)
17. Put the blue cube and green cube in the center of the table with the right gripper (Index: 16)
18. Put the green cube on the behind of the yellow cube (Index: 17)
19. **Put the green build block on the right of the orange build block ** (Index: 18)
20. Put the blue cube on the behind of the yellow cube (Index: 19)
21. **Put the green build block on the orange build block ** (Index: 20)
22. Grasp the blue block with left gripper (Index: 21)
23. Put the green cube on the right of the red cube (Index: 22)
24. Grasp the orange block with left gripper (Index: 23)
25. **Put the bluebuild block on the right of the yellow build block ** (Index: 24)
26. **Put the yellow build block on the right of the green build block ** (Index: 25)
27. Put the yellow cube on the right of the red cube (Index: 26)
28. **Put the orange build block on the right of the green build block ** (Index: 27)
29. Adjust the position of the cube with the right gripper (Index: 28)
30. Put the red cube and green cube in the center of the table with the left gripper (Index: 29)
31. **Put the yellow build block on the right of the red build block ** (Index: 30)
32. Put the blue cube and green cube in the center of the table with the left gripper (Index: 31)
33. **Put the red build block on the behind of the orange build block ** (Index: 32)
34. Put the green cube on the red cube (Index: 33)
35. **Put the orange build block on the behind of the red build block ** (Index: 34)
36. **Put the blue build block on the right of the yellow build block ** (Index: 35)
37. **Put the yellow build block on the right of the orange build block ** (Index: 36)
38. Put the red cube on the left of the green cube with the left gripper (Index: 37)
39. **Put the yellow build block on the behind of the blue build block ** (Index: 38)
40. **Put the green build block in the center of the table ** (Index: 39)
41. Put the orange cube on the left of the yellow cube with the right gripper (Index: 40)
42. Put the yellow cube on the behind of the green cube (Index: 41)
43. **Put the blue build block on the green build block ** (Index: 42)
44. **Put the blue build block on the right of orange the build block ** (Index: 43)
45. **Put the yellow build block in the center of the table ** (Index: 44)
46. Grasp the yellow block with left gripper (Index: 45)
47. **Put the orange build block on the behind of the red build block ** (Index: 46)
48. Put the red cube on the left of the orange cube (Index: 47)
49. Put the green cube on the right of the yellow cube with the left gripper (Index: 48)
50. **Put the blue build block on the front of the orange build block ** (Index: 49)
51. **Put the green build block on the right of the orange build block ** (Index: 50)
52. **Put the ornage build block on the behind of the green build block ** (Index: 51)
53. **Put the red build block on the behind of the blue build block ** (Index: 52)
54. Put the yellow cube and orange cube in the center of the table with the right gripper (Index: 53)
55. Put the blue cube in the center of the table (Index: 54)
56. **Put the ornage build block on the behind of the blue build block ** (Index: 55)
57. Grasp the red block with right gripper (Index: 56)
58. Put the orange cube on the right of the yellow cube (Index: 57)
59. **Put the red build block on the behind of the yellow build block ** (Index: 58)
60. **Put the yellow build block on the right of the green build block ** (Index: 59)
61. Put the yellow cube on the front of the orange cube with the right gripper (Index: 60)
62. Put the green build block on the behind of the blue build block (Index: 61)
63. Put the yellow build block in the center of the table (Index: 62)
64. Put the yellow build block on the behind of the blue build block (Index: 63)
65. **Put the red build block on the left of the green build block ** (Index: 64)
66. Put the orange cube on the right of the blue cube (Index: 65)
67. Put the yellow cube on the behind of the red cube (Index: 66)
68. Grasp the orange block with right gripper (Index: 67)
69. Put the red cube on the right of the green cube (Index: 68)
70. move the build block to the center of the table (Index: 69)
71. **Put the yellow build block on the right of the red build block ** (Index: 70)
72. **Put the greem build block on the behind of the blue build block ** (Index: 71)
73. **Put the yellow build block on the behind of the blue build block ** (Index: 72)
74. Put the green cube on the right of the orange cube with the right gripper (Index: 73)
75. Put the red cube on the right of the green cube with the left gripper (Index: 74)
76. **Put the yellow build block on the behind of the green build block ** (Index: 75)
77. Put the green build block on the left of the orange build block (Index: 76)
78. Put the yellow cube on the front of the blue cube with the right gripper (Index: 77)
79. **Put the red build block on the right of the blue build block ** (Index: 78)
80. **Put the yellow build block on the blue build block ** (Index: 79)
81. Put the orange cube on the behind of the blue cube (Index: 80)
82. **Put the yellow build block on the right of the blue build block ** (Index: 81)
83. Put the green cube on the right of the blue cube with the left gripper (Index: 82)
84. Put the yellow cube on the right of the orange cube (Index: 83)
85. Put the yellow cube and green cube in the center of the table with the left gripper (Index: 84)
86. **Put the blue build block on the left of the yellow build block ** (Index: 85)
87. Put the red cube and blue cube in the center of the table with the right gripper (Index: 86)
88. **Put the blue build block on the right of the red build block ** (Index: 87)
89. Put the red cube on the right of the orange cube with the right gripper (Index: 88)
90. **Put the green build block on the right of the red build block ** (Index: 89)
91. Put the blue cube on the left of the green cube with the right gripper (Index: 90)
92. Put the blue cube on the right of the yellow cube with the right gripper (Index: 91)
93. **Put the orange build block on the behind of the yellow build block ** (Index: 92)
94. Put the blue cube on the left of the orange cube (Index: 93)
95. Put the orange cube on the right of the green cube (Index: 94)
96. **Put the red build block in the center of the table ** (Index: 95)
97. **Put the green build block on the left of the blue build block ** (Index: 96)
98. Put the green cube on the left of the orange cube with the left gripper (Index: 97)
99. Grasp the blue block with right gripper (Index: 98)
100. **Put the orange build block on the behind of the yellow build block ** (Index: 99)
101. **Put the yellow build block in the center of the table ** (Index: 100)
102. **Put the blue build block on the front of the green build block ** (Index: 101)
103. Put the red cube in the center of the table (Index: 102)
104. **Put the blue build block on the behind of the orange build block ** (Index: 103)
105. Put the orange cube on the right of the yellow cube with the right gripper (Index: 104)
106. Put the red cube on the behind of the orange cube (Index: 105)
107. Put the blue cube and orange cube in the center of the table with the right gripper (Index: 106)
108. **Put the green build block on the left of the blue build block ** (Index: 107)
109. **Put the right build block on the right of the yellow build block ** (Index: 108)
110. **Put the green build block on the right of the red build block ** (Index: 109)
111. **Put the yellow build block on the right of the red build block ** (Index: 110)
112. **Put the green build block on the left of the blue build block ** (Index: 111)
113. **Put the yellow build block on the behind of the red build block ** (Index: 112)
114. **Put the blue build block in the center of the table ** (Index: 113)
115. **Put the yellow build block on the right of the blue build block ** (Index: 114)
116. Put the orange cube on the left of the green cube with the left gripper (Index: 115)
117. Put the yellow cube on the right of the blue cube with the right gripper (Index: 116)
118. **Put the green build block on the behind of the yellow build block ** (Index: 117)
119. Put the red cube on the right of the orange cube with the left gripper (Index: 118)
120. **Put the green build block on the right of the yellow build block ** (Index: 119)
121. **Put the green build block on the right of the red build block ** (Index: 120)
122. **Put the green build block on the right of the orange build block ** (Index: 121)
123. Put the yellow cube on the right of the green cube (Index: 122)
124. **Put the yellow build block on the right of the orange build block ** (Index: 123)
125. **Put the orange build block on the green build block ** (Index: 124)
126. Put the green cube on the front of the blue cube with the left gripper (Index: 125)
127. **Put the green build block in the center of the table ** (Index: 126)
128. Put the green cube in the center of the table (Index: 127)
129. Put the yellow cube and green cube in the center of the table with the right gripper (Index: 128)
130. Put the yellow cube and blue cube in the center of the table with the right gripper (Index: 129)
131. Put the red cube on the behind of the yellow cube (Index: 130)
132. Put the XX build block on the XX build block (Index: 131)
133. Put the orange cube on the right of the green cube with the right gripper (Index: 132)
134. **Put the orange build block on the behind of the blue build block ** (Index: 133)
135. **Put the green build block on the behind of the yellow build block ** (Index: 134)
136. Put the blue cube in the front of the green cube (Index: 135)
137. **Put the green build block on the right of the orange build block ** (Index: 136)
138. **Put the blue build block on the right of the red build block ** (Index: 137)
139. **Put the red build block on the right of the orange build block ** (Index: 138)
140. **Put the blue build block on the behind of the green build block ** (Index: 139)
141. **Put the green build block on the right of the blue build block ** (Index: 140)
142. ** Put the yellow build block in the center of the table** (Index: 141)
143. **Put the orange build block on the behind of the red build block ** (Index: 142)
144. Put the red cube and orange cube in the center of the table with the right gripper (Index: 143)
145. **Put the orange build block on the behind of the green build block ** (Index: 144)
146. **Put the orange build block in the center of the table ** (Index: 145)
147. Put the yellow cube in the center of the table (Index: 146)
148. **Put the yellow build block on the behind of the green build block ** (Index: 147)
149. **Put the blue build block on the right of the green build block ** (Index: 148)
150. Put the green cube on the right of the orange cube (Index: 149)
151. Adjust the position of the cube with the left gripper (Index: 150)
152. Put the green cube on the left of the yellow cube with the left gripper (Index: 151)
153. **Put the green build block on the behind of the yellow build block ** (Index: 152)
154. **Put the orange build block on the right of the red build block ** (Index: 153)
155. **Put the red build block on the right of the yellow build block ** (Index: 154)
156. **Put the green build block on the red build block ** (Index: 155)
157. Put the yellow cube on the behind of the blue cube with the left gripper (Index: 156)
158. **Put the yellow build block on the behind of the red build block ** (Index: 157)
159. Put the orange cube on the right of the red cube with the left gripper (Index: 158)
160. Adjust the pose of the building blocks (Index: 159)
161. **Put the blue build block on the front of the green build block ** (Index: 160)
162. Put the green cube on the right of the red cube with the right gripper (Index: 161)
163. **Put theyellow build block on the behind of the blue build block ** (Index: 162)
164. Put the red cube in the center of the table with the left gripper (Index: 163)
165. **Put the red build block on the green build block ** (Index: 164)
166. **Put the yellow build block on the orange build block ** (Index: 165)
167. **Put the blue build block in the center of the table ** (Index: 166)
168. **Put the green build block on the right of the orange build block ** (Index: 167)
169. **Put the red build block on the right of the green build block ** (Index: 168)
170. Put the red cube on the right of the orange cube (Index: 169)
171. Put the yellow cube on the left of the blue cube with the left gripper (Index: 170)
172. **Put the red build block on the behind of the green build block ** (Index: 171)
173. Put the yellow cube on the right of the green cube with the left gripper (Index: 172)
174. **Put the green build block on the behind of the blue build block ** (Index: 173)
175. **Put the blue build block on the orange build block ** (Index: 174)
176. **Put the orange build block on the orange build block ** (Index: 175)
177. **Put the green build block on the orange build block ** (Index: 176)
178. **Put the yellow build block in the center of the table ** (Index: 177)
179. Put the blue cube in the front of the yellow cube (Index: 178)
180. **Put the red build block on the behind of the green build block ** (Index: 179)
181. **Put the blue build block on the behind of the green build block ** (Index: 180)
182. Put the red cube and yellow cube in the center of the table with the right gripper (Index: 181)
183. **Put the orange build block on the right of the yellow build block ** (Index: 182)
184. **Put the orange build block on the left of the red build block ** (Index: 183)
185. **Put the orange build block in the center of the table ** (Index: 184)
186. **Put the blue build block in the center of the table ** (Index: 185)
187. **Put the yellow build block on the right of the green build block ** (Index: 186)
188. **Put the orange build block in the center of the table ** (Index: 187)
189. Put the red cube and green cube in the center of the table with the right gripper (Index: 188)
190. **Put the blue build block on the right of the yellow build block ** (Index: 189)
191. **Put the orange build block on the behind of the blue build block ** (Index: 190)
192. **Put the orange build block on the right of the yellow build block ** (Index: 191)
193. Put the blue cube on the left of the yellow cube with the left gripper (Index: 192)
194. Put the red cube on the right of the green cube with the right gripper (Index: 193)
195. **Put the red build block on the behind of the green build block ** (Index: 194)
196. **Put the orange build block on the right of the red build block ** (Index: 195)
197. Put the blue build block on the right of the yellow build block (Index: 196)
198. **Put the green build block on the right of the yellow build block ** (Index: 197)
199. Put the yellow cube and blue cube in the center of the table with the left gripper (Index: 198)
200. Put the yellow cube on the left of the orange cube with the right gripper (Index: 199)
201. Put the red cube in the front of the orange cube (Index: 200)
202. **Put the yellow build block on the behind of the green build block ** (Index: 201)
203. **Put the blue build block in the center of the table ** (Index: 202)
204. Put the green build block on the behind of the blue build block (Index: 203)
205. Put the orange cube on the left of the red cube with the right gripper (Index: 204)
206. Put the green cube and orange cube in the center of the table with the right gripper (Index: 205)
207. Grasp the yellow block with right gripper (Index: 206)
208. **Put the orange build block on the green build block ** (Index: 207)
209. **Put the yellow build block on the front of the red build block ** (Index: 208)
210. Put the orange cube on the right of the blue cube with the right gripper (Index: 209)
211. **Put the green build block on the right of the yellow build block ** (Index: 210)
212. Put the yellow cube on the left of the red cube with the right gripper (Index: 211)
213. Abnormal (Index: 212)
214. **Put the red build block on the yellow build block ** (Index: 213)
215. Put the blue cube on the behind of the orange cube (Index: 214)
216. **Put the red build block on the right of the blue build block ** (Index: 215)
217. Put the green cube in the center of the table with the left gripper (Index: 216)
218. **Put the red build block on the front of the green build block ** (Index: 217)
219. Put the yellow cube on the behind of the blue cube (Index: 218)
220. **Put the blue build block on the left of the yellow build block ** (Index: 219)
221. Put the orange cube on the left of the blue cube (Index: 220)
222. **Put the orange build block on the front of the blue build block ** (Index: 221)
223. Put the yellow cube in the front of the green cube (Index: 222)
224. **Put the blue build block in the center of the table ** (Index: 223)
225. Put the green cube in the front of the yellow cube (Index: 224)
226. Put the red cube and orange cube in the center of the table with the left gripper (Index: 225)
227. Put the yellow build block on the behind of the green build block (Index: 226)
228. **Put the orange build block on the blue build block ** (Index: 227)
229. **Put the blue build block on the left of the yellow build block ** (Index: 228)
230. Grasp the red block with left gripper (Index: 229)
231. **Put the blue build block on the behind of the orange build block ** (Index: 230)
232. **Put the red build block on the right of the yellow build block ** (Index: 231)
233. **Put the red build block in the center of the table ** (Index: 232)
234. **Put the red build block on the right of the orange build block ** (Index: 233)
235. **Put the red build block on the behind of the yellow build block ** (Index: 234)
236. **Put the green build block on the right of the red build block ** (Index: 235)
237. **Put the blue build block on the behind of the green build block ** (Index: 236)
238. Put the orange cube on the right of the red cube (Index: 237)
239. **Put the red build block on the right of the green build block ** (Index: 238)
240. **Put the blue build block on the behind of the green build block ** (Index: 239)
241. **Put the green build block in the center of the table ** (Index: 240)
242. Put the yellow cube on the right of the blue cube (Index: 241)
243. Put the yellow cube on the behind of the orange cube (Index: 242)
244. Put the yellow cube in the front of the orange cube (Index: 243)
245. **Put the green build block on the red build block ** (Index: 244)
246. Put the green cube on the right of the yellow cube (Index: 245)
247. **Put the yellow build block on the right of the green build block ** (Index: 246)
248. Put the red cube and blue cube in the center of the table with the left gripper (Index: 247)
249. **Put the green build block on the left of the orange build block ** (Index: 248)
250. Put the orange cube on the left of the blue cube with the right gripper (Index: 249)
251. **Put the green build block on the blue build block ** (Index: 250)
252. **Put the green build block on the orange build block ** (Index: 251)
253. **Put the orange build block on the right of the blue build block ** (Index: 252)
254. **Put the orange build block on the right of the blue build block ** (Index: 253)
255. Put the blue cube on the yellow cube (Index: 254)
256. **Put the orange build block on the right of the green build block ** (Index: 255)
257. Put the blue cube on the right of the orange cube with the right gripper (Index: 256)
258. Put the yellow cube on the right of the orange cube with the right gripper (Index: 257)
259. Put the red cube on the left of the orange cube with the left gripper (Index: 258)
260. **Put the yellow build block on the behind of the green build block ** (Index: 259)
261. **Put the orange build block on the left of the red build block ** (Index: 260)
262. **Put the red build block on the front of the green build block ** (Index: 261)
263. Put the blue cube on the right of the red cube with the right gripper (Index: 262)
264. **Put the yellow build block on the behind of the red build block ** (Index: 263)
265. **Put the red build block on the behind of the yellow build block ** (Index: 264)
266. **Put the red build block on the behind of the blue build block ** (Index: 265)
267. Put the yellow cube on the left of the green cube (Index: 266)
268. **Put the blue build block on the right of the orange build block ** (Index: 267)
269. Put the green cube on the right of the blue cube (Index: 268)
270. **Put the red build block on the blue build block ** (Index: 269)
271. **Put the blue build block on the red build block ** (Index: 270)
272. Put the orange cube in the front of the blue cube (Index: 271)
273. **Put the red build block on the right of the blue build block ** (Index: 272)
274. Put the blue build block on the right of the yellow build block (Index: 273)
275. Put the red build block on the right of the blue build block (Index: 274)
276. Put the green cube in the front of the blue cube (Index: 275)
277. Put the red cube in the front of the blue cube (Index: 276)
278. Put the blue cube on the right of the green cube with the left gripper (Index: 277)
279. **Put the blue build block on the behind of the orange build block ** (Index: 278)
280. **Put the red build block in the center of the table ** (Index: 279)
281. Put the green cube and orange cube in the center of the table with the left gripper (Index: 280)
282. **Put the blue build block on the behind of the red build block ** (Index: 281)
283. Put the blue cube on the right of the orange cube (Index: 282)
284. **Put the blue build block on the right of the green build block ** (Index: 283)
285. **Put the red build block on the front of the blue build block ** (Index: 284)
286. Static (Index: 285)
287. **Put the red build block on the front of the yellow build block ** (Index: 286)
288. **Put the blue build block on the right of the yellow build block ** (Index: 287)
289. Put the yellow cube in the front of the blue cube (Index: 288)
290. **Put the yellow build block in the center of the table ** (Index: 289)
291. **Put the yellow build block on the behind of the red build block ** (Index: 290)
292. Put the red cube on the right of the yellow cube (Index: 291)
293. **Put the green build block on the behind of the red build block ** (Index: 292)
294. **Put the yellow build block on the right of the green build block ** (Index: 293)
295. **Put the yellow build block on the behind of the blue build block ** (Index: 294)
296. Put the orange cube on the left of the red cube (Index: 295)
297. **Put the yellow build block on the behind of the blue build block ** (Index: 296)
298. **Put the yellow build block on the right of the blue build block ** (Index: 297)
299. **Put the red build block in the center of the table ** (Index: 298)
300. **Put the green build block on the right of the blue build block ** (Index: 299)
301. **Put the green build block on the behind of the orange build block ** (Index: 300)
302. Put the blue cube in the front of the orange cube (Index: 301)
303. Put the green cube on the right of the blue cube with the right gripper (Index: 302)
304. **Put the green build block on the right of the red build block ** (Index: 303)
305. **Put the red build block on the behind of the green build block ** (Index: 304)
306. **Put the red build block on the behind of the yellow build block ** (Index: 305)
307. **Put the green build block in the center of the table ** (Index: 306)
308. **Put the yellow build block on the right of the blue build block ** (Index: 307)
309. **Put the orange build block on the behind of the blue build block ** (Index: 308)
310. **Put the green build block on the right of the yellow build block ** (Index: 309)
311. **Put the orange build block in the center of the table ** (Index: 310)
312. Put the red cube on the right of the blue cube (Index: 311)
313. **Put the green build block on the behind of the orange build block ** (Index: 312)
314. Put the blue build block on the right of the orange build block (Index: 313)
315. Put the orange cube on the behind of the yellow cube with the left gripper (Index: 314)
316. Put the orange cube in the front of the yellow cube (Index: 315)
317. **Put the yellow build block on the right of the orange build block ** (Index: 316)
318. **Put the orange build block on the front of the blue build block ** (Index: 317)
319. Put the yellow cube on the behind of the green cube with the left gripper (Index: 318)
320. Put the red cube on the left of the blue cube (Index: 319)
321. Put the blue cube on the behind of the green cube (Index: 320)
322. Put the blue cube on the right of the green cube with the right gripper (Index: 321)
323. **Put the green build block on the right of the orange build block ** (Index: 322)
324. **Put the red build block on the right of the blue build block ** (Index: 323)
325. Put the red cube on the left of the green cube with the right gripper (Index: 324)
326. **Put the blue build block on the right of the orange build block ** (Index: 325)
327. **Put the yellow build block on the behind of the blue build block ** (Index: 326)
328. Put the yellow cube on the left of the orange cube (Index: 327)
329. Put the orange cube in the center of the table (Index: 328)
330. Put the blue cube on the right of the red cube (Index: 329)
331. **Put the blue build block on the right of the yellow build block ** (Index: 330)
332. **Put the orange build block on the right of the green build block ** (Index: 331)
333. **Put the green build block in the center of the table ** (Index: 332)
334. Put the red cube in the front of the green cube (Index: 333)
335. **Put the green build block on the behind of the yellow build block ** (Index: 334)
336. Put the yellow cube on the right of the green cube with the right gripper (Index: 335)
337. **Put the orange build block on the behind of the yellow build block ** (Index: 336)
338. **Put the green build block on the behind of the blue build block ** (Index: 337)
339. ** Put the yellow build block on the behind of the green build block ** (Index: 338)
340. **Put the green build block on the behind of the yellow build block ** (Index: 339)
341. **Put the orange build block on the behind of the blue build block ** (Index: 340)
342. Put the red cube on the right of the yellow cube with the right gripper (Index: 341)
343. Put the blue cube on the right of the yellow cube (Index: 342)
344. Put the green build block in the center of the table (Index: 343)
345. **Put the green build block on the right of the red build block ** (Index: 344)
346. Put the green cube on the right of the yellow cube with the right gripper (Index: 345)
347. **Put the red build block on the front of the yellow build block ** (Index: 346)
348. **Put the green build block in the center of the table ** (Index: 347)
349. **Put the green build block on the blue build block ** (Index: 348)
350. **Put the green build block on the blue build block ** (Index: 349)
351. Put the blue cube in the front of the red cube (Index: 350)
352. **Put the orange build block on the left of the red build block ** (Index: 351)
353. Put the yellow cube on the right of the red cube with the right gripper (Index: 352)
354. **Put the yellow build block on the right of the orange build block ** (Index: 353)
355. Grasp the green block with right gripper (Index: 354)
356. **Put the blue build block on the behind of the orange build block ** (Index: 355)
357. **Put the orange build block on the right of the blue build block ** (Index: 356)
358. **Put the blue build block on the right of the orange build block ** (Index: 357)
359. Put the red cube on the left of the yellow cube with the right gripper (Index: 358)
360. **Put the orange build block on the right of the blue build block ** (Index: 359)
361. Put the blue cube on the left of the red cube (Index: 360)
362. **Put the orange build block on the right of the build block ** (Index: 361)
363. **Put the orange build block on the right of the yellow build block ** (Index: 362)
364. Put the orange cube in the front of the red cube (Index: 363)
365. Put the red cube in the front of the yellow cube (Index: 364)
366. Put the yellow cube on the left of the green cube with the left gripper (Index: 365)
367. Put the red cube on the right of the blue cube with the right gripper (Index: 366)
368. **Put the green build block on the right of the orange build block ** (Index: 367)
369. Put the red cube on the behind of the blue cube (Index: 368)
370. **Put the yellow build block in the center of the table ** (Index: 369)
371. Put the yellow cube on the orange cube (Index: 370)
372. **Put the blue build block in the center of the table ** (Index: 371)
373. Put the blue cube on the left of the red cube with the left gripper (Index: 372)
374. **Put the blue build block on the behind of the yellow build block ** (Index: 373)
375. **Put the green build block on the right of the orange build block ** (Index: 374)
376. Put the yellow cube in the front of the red cube (Index: 375)
377. **Put the yellow build block on the behind of the green build block ** (Index: 376)
378. Put the orange cube on the right of the red cube with the right gripper (Index: 377)
379. Put the orange cube on the front of the blue cube with the right gripper (Index: 378)
380. End (Index: 379)
381. Put the green cube on the behind of the blue cube (Index: 380)
382. **Put blue the build block on the right of the red build block ** (Index: 381)
383. Put the blue cube on the left of the red cube with the right gripper (Index: 382)
384. null (Index: 383)

Atomic Actions

• grasp
• lift
• lower

Hardware and Sensors

Sensors

• cam_head_rgb

• cam_left_wrist_rgb

• cam_right_wrist_rgb

Camera Information

• cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

• cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

• cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

Coordinate System

• Definition: right-hand-frame

Dimensions & Units

• Joint Rotation: radian
• End-Effector Rotation: radian
• End-Effector Translation: meter

Dataset Statistics

Metric	Value
Total Episodes	672
Total Frames	643028
Total Tasks	384
Total Videos	2016
Total Chunks	1
Chunk Size	1000
FPS	30
State Dimensions	26
Action Dimensions	26
Camera Views	3
Dataset Size	3.97 GB

Data Splits

The dataset is organized into the following splits:

• Training: Episodes 0:671

Dataset Structure

This dataset follows the LeRobot format and contains the following components:

Data Files

• Videos: Compressed video files containing RGB camera observations
• State Data: Robot joint positions, velocities, and other state information
• Action Data: Robot action commands and trajectories
• Metadata: Episode metadata, timestamps, and annotations

File Organization

• Data Path Pattern: data/chunk-{id}/episode_{id}.parquet
• Video Path Pattern: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
• Chunking: Data is organized into 1 chunk(s) of size 1000

Data Structure (Tree)

Agilex_Cobot_Magic_Agilex_Cobot_Magic_stack_block_qced_hardlink/
|-- annotations
|   |-- eef_acc_mag_annotation.jsonl
|   |-- eef_direction_annotation.jsonl
|   |-- eef_velocity_annotation.jsonl
|   |-- gripper_activity_annotation.jsonl
|   |-- gripper_mode_annotation.jsonl
|   |-- scene_annotations.jsonl
|   `-- subtask_annotations.jsonl
|-- data
|   `-- chunk-000
|       |-- episode_000000.parquet
|       |-- episode_000001.parquet
|       |-- episode_000002.parquet
|       |-- episode_000003.parquet
|       |-- episode_000004.parquet
|       |-- episode_000005.parquet
|       |-- episode_000006.parquet
|       |-- episode_000007.parquet
|       |-- episode_000008.parquet
|       |-- episode_000009.parquet
|       |-- episode_000010.parquet
|       `-- episode_000011.parquet
|       `-- ... (660 more entries)
|-- meta
|   |-- episodes.jsonl
|   |-- episodes_stats.jsonl
|   |-- info.json
|   `-- tasks.jsonl
`-- videos
    `-- chunk-000
        |-- observation.images.cam_head_rgb
        |-- observation.images.cam_left_wrist_rgb
        `-- observation.images.cam_right_wrist_rgb

Camera Views

This dataset includes 3 camera views: cam_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb.

Features (Full YAML)

observation.images.cam_head_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.images.cam_left_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.images.cam_right_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.state:
  dtype: float32
  shape:
  - 26
  names:
  - left_arm_joint_1_rad
  - left_arm_joint_2_rad
  - left_arm_joint_3_rad
  - left_arm_joint_4_rad
  - left_arm_joint_5_rad
  - left_arm_joint_6_rad
  - left_gripper_open
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_rad
  - right_arm_joint_1_rad
  - right_arm_joint_2_rad
  - right_arm_joint_3_rad
  - right_arm_joint_4_rad
  - right_arm_joint_5_rad
  - right_arm_joint_6_rad
  - right_gripper_open
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
action:
  dtype: float32
  shape:
  - 26
  names:
  - left_arm_joint_1_rad
  - left_arm_joint_2_rad
  - left_arm_joint_3_rad
  - left_arm_joint_4_rad
  - left_arm_joint_5_rad
  - left_arm_joint_6_rad
  - left_gripper_open
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_rad
  - right_arm_joint_1_rad
  - right_arm_joint_2_rad
  - right_arm_joint_3_rad
  - right_arm_joint_4_rad
  - right_arm_joint_5_rad
  - right_arm_joint_6_rad
  - right_gripper_open
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
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
subtask_annotation:
  names: null
  dtype: int32
  shape:
  - 5
scene_annotation:
  names: null
  dtype: int32
  shape:
  - 1
eef_sim_pose_state:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  dtype: float32
  shape:
  - 12
eef_sim_pose_action:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  dtype: float32
  shape:
  - 12
eef_direction_state:
  names:
  - left_eef_direction
  - right_eef_direction
  dtype: int32
  shape:
  - 2
eef_direction_action:
  names:
  - left_eef_direction
  - right_eef_direction
  dtype: int32
  shape:
  - 2
eef_velocity_state:
  names:
  - left_eef_velocity
  - right_eef_velocity
  dtype: int32
  shape:
  - 2
eef_velocity_action:
  names:
  - left_eef_velocity
  - right_eef_velocity
  dtype: int32
  shape:
  - 2
eef_acc_mag_state:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  dtype: int32
  shape:
  - 2
eef_acc_mag_action:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  dtype: int32
  shape:
  - 2
gripper_mode_state:
  names:
  - left_gripper_mode
  - right_gripper_mode
  dtype: int32
  shape:
  - 2
gripper_mode_action:
  names:
  - left_gripper_mode
  - right_gripper_mode
  dtype: int32
  shape:
  - 2
gripper_activity_state:
  names:
  - left_gripper_activity
  - right_gripper_activity
  dtype: int32
  shape:
  - 2
gripper_activity_action:
  names:
  - left_gripper_activity
  - right_gripper_activity
  dtype: int32
  shape:
  - 2
gripper_open_scale_state:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float32
  shape:
  - 2
gripper_open_scale_action:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float32
  shape:
  - 2

Available Annotations

This dataset includes rich annotations to support diverse learning approaches:

• eef_acc_mag_annotation.jsonl
• eef_direction_annotation.jsonl
• eef_velocity_annotation.jsonl
• gripper_activity_annotation.jsonl
• gripper_mode_annotation.jsonl
• scene_annotations.jsonl
• subtask_annotations.jsonl

Dataset Tags

• RoboCOIN
• LeRobot

Authors

Contributors

This dataset is contributed by:-RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)

Annotators

No annotator information available.

Links

• Homepage: https://flagopen.github.io/RoboCOIN/
• Paper: https://arxiv.org/abs/2511.17441
• Repository: https://github.com/FlagOpen/RoboCOIN

Contact and Support

For questions, issues, or feedback regarding this dataset, please contact us.

Support

For technical support, please open an issue on our GitHub repository.

License

apache-2.0

Citation

If you use this dataset in your research, please cite:

@article{robocoin,
  title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
  author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
  journal={arXiv preprint arXiv:2511.17441},
  url = {https://arxiv.org/abs/2511.17441},
  year={2025},
  }

Additional References

If you use this dataset, please also consider citing: LeRobot Framework: https://github.com/huggingface/lerobot

Version Information

Initial Release