| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=andreaskoepf/dk1_flip_coaster"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
| ## Dataset Description |
|
|
| Flip the coaster upside down. |
|
|
| - **Robot:** TRLC DK1 bimanual (`bi_dk1_follower`) — 2× 6-DOF arms with grippers |
| - **Task:** Turn the coaster over. |
| - **Episodes:** 16 |
| - **Total frames:** 10,489 (5.8 min @ 30 fps) |
| - **Avg episode length:** 21.9s |
| - **License:** apache-2.0 |
|
|
| ### Cameras |
|
|
| | Camera | Resolution | Codec | FPS | |
| |---|---|---|---| |
| | `observation.images.head` | 640x360 | h264 | 30 | |
| | `observation.images.left_wrist` | 640x360 | h264 | 30 | |
| | `observation.images.right_wrist` | 640x360 | h264 | 30 | |
|
|
| ### Observation Space |
|
|
| - **`observation.state`**: float32[40] — left_joint_1.pos, left_joint_1.vel, left_joint_1.torque, left_joint_2.pos, left_joint_2.vel, left_joint_2.torque... (joint positions, velocities, torques for both arms + grippers) |
| - **`observation.images.*`**: 3 camera streams |
| |
| ### Action Space |
| |
| - **`action`**: float32[14] — left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_joint_6.pos... (joint position targets for both arms + grippers) |
| |
| ## Loading the Dataset |
| |
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("andreaskoepf/dk1_flip_coaster") |
| |
| # Access a frame |
| frame = dataset[0] |
| print(frame["observation.state"].shape) # torch.Size([40]) |
| print(frame["action"].shape) # torch.Size([14]) |
| print(frame["observation.images.head"].shape) # torch.Size([3, 720, 1280]) |
| ``` |
| |
| ## Dataset Structure |
| |
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "bi_dk1_follower", |
| "total_episodes": 16, |
| "total_frames": 10489, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 2, |
| "video_files_size_in_mb": 1004, |
| "fps": 30, |
| "splits": { |
| "train": "0:16" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "left_joint_1.pos", |
| "left_joint_2.pos", |
| "left_joint_3.pos", |
| "left_joint_4.pos", |
| "left_joint_5.pos", |
| "left_joint_6.pos", |
| "left_gripper.pos", |
| "right_joint_1.pos", |
| "right_joint_2.pos", |
| "right_joint_3.pos", |
| "right_joint_4.pos", |
| "right_joint_5.pos", |
| "right_joint_6.pos", |
| "right_gripper.pos" |
| ], |
| "shape": [ |
| 14 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "left_joint_1.pos", |
| "left_joint_1.vel", |
| "left_joint_1.torque", |
| "left_joint_2.pos", |
| "left_joint_2.vel", |
| "left_joint_2.torque", |
| "left_joint_3.pos", |
| "left_joint_3.vel", |
| "left_joint_3.torque", |
| "left_joint_4.pos", |
| "left_joint_4.vel", |
| "left_joint_4.torque", |
| "left_joint_5.pos", |
| "left_joint_5.vel", |
| "left_joint_5.torque", |
| "left_joint_6.pos", |
| "left_joint_6.vel", |
| "left_joint_6.torque", |
| "left_gripper.pos", |
| "left_gripper.torque", |
| "right_joint_1.pos", |
| "right_joint_1.vel", |
| "right_joint_1.torque", |
| "right_joint_2.pos", |
| "right_joint_2.vel", |
| "right_joint_2.torque", |
| "right_joint_3.pos", |
| "right_joint_3.vel", |
| "right_joint_3.torque", |
| "right_joint_4.pos", |
| "right_joint_4.vel", |
| "right_joint_4.torque", |
| "right_joint_5.pos", |
| "right_joint_5.vel", |
| "right_joint_5.torque", |
| "right_joint_6.pos", |
| "right_joint_6.vel", |
| "right_joint_6.torque", |
| "right_gripper.pos", |
| "right_gripper.torque" |
| ], |
| "shape": [ |
| 40 |
| ] |
| }, |
| "observation.images.head": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "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 |
| @misc{andreaskoepf_dk1_flip_coaster, |
| title = {Turn the coaster over.}, |
| author = {The Robot Learning Company}, |
| year = {2026}, |
| publisher = {HuggingFace}, |
| url = {https://huggingface.co/datasets/andreaskoepf/dk1_flip_coaster} |
| } |
| ``` |
| |
