README.md

---
task_categories:
  - robotics

language:
  - en


extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'



extra_gated_fields:

  Company/Organization:
    type: 'text'
    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'

  Country:
    type: 'country'
    description: 'e.g., "Germany", "China", "United States"'



tags:
  - RoboCOIN
  - LeRobot

license: apache-2.0

configs:
- config_name: default
  data_files: data/chunk-{id}/episode_{id}.parquet
---

# Agilex_Cobot_Magic_stack_block

## Dataset Description

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

## Task Preview

<video src="videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" controls width="640"></video>

[View Video Directly](videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4)

### 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)

```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/](https://flagopen.github.io/RoboCOIN/)
- **Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
- **Repository:** [https://github.com/FlagOpen/RoboCOIN](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:

```bibtex
@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