---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- RoboTwin
- bimanual
- simulation
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

<a href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=andreaskoepf/robotwin_dk1_realcam_stack_blocks_three_1000">
<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

Bimanual manipulation demonstrations for the **Stack Blocks Three** task, generated in the [RoboTwin](https://github.com/TianxingChen/RoboTwin) simulator with domain randomization.

- **Robot:** TRLC DK1 bimanual (`bi_dk1_follower`) - 2x 6-DOF arms with parallel grippers
- **Task:** Stack Blocks Three
- **Episodes:** 1000
- **Total frames:** 323,557 (317.2 min @ 17 fps)
- **Avg episode length:** 19.0s

### Cameras

| Camera | Resolution | Codec | FPS |
|---|---|---|---|
| `observation.images.head` | 640x360 | h264 | 17 |
| `observation.images.left_wrist` | 640x360 | h264 | 17 |
| `observation.images.right_wrist` | 640x360 | h264 | 17 |

### Action & State Space

- **`action`**: float32[14] - joint position targets (6 joints + 1 gripper per arm)
- **`observation.state`**: float32[14] - current joint positions + gripper state

### Task Descriptions

- "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block."
- "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block."
- "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block."
- "Use the right arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them."
- "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block."

## Loading the Dataset

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("andreaskoepf/robotwin_dk1_realcam_stack_blocks_three_1000")
frame = dataset[0]
print(frame["observation.state"].shape)  # torch.Size([14])
print(frame["action"].shape)             # torch.Size([14])
```

## Citation

```bibtex
@misc{robotwin2025,
  title = {RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins},
  author = {Chen, Yao Mu et al.},
  year = {2025},
  url = {https://github.com/TianxingChen/RoboTwin}
}
```