---
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_two_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 Two** 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 Two
- **Episodes:** 1000
- **Total frames:** 217,335 (213.1 min @ 17 fps)
- **Avg episode length:** 12.8s

### 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

- "Shift red block and green block to the middle, then stack green block over red block."
- "Bring red block to the center, then stack green block over it."
- "Center red block using the right arm, then stack green block with the left arm on top."
- "Shift red block and green block to the center and stack green block on red block."
- "Place red block and green block in the center, then stack green block above red block."

## Loading the Dataset

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

dataset = LeRobotDataset("andreaskoepf/robotwin_dk1_realcam_stack_blocks_two_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}
}
```