---
license: apache-2.0
language:
  - en
  - zh
task_categories:
  - robotics
tags:
  - RobotCoin
  - LeRobot
size_categories: <1K
configs:
- config_name: default
  data_files: data/*/*.parquet
---

## Dataset Authors
contributed by [[RobotCoin](https://RobotCoin.github.io)]
annotated by [[RobotCoin](https://RobotCoin.github.io)]

## Dataset Description
This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot.

- **Homepage:** 
- **Paper:** 
- **License:** apache-2.0

## Dataset Tags

- RobotCoin

- LeRobot


## Task Descriptions
### tasks
stack basket

### sub_tasks
Place the light basket on the dark basket with the right gripper
Pick up the dark basket with the left gripper
Place the dark basket on the light basket with the right gripper
Place the light basket in the center of view with the left gripper
Place the dark basket in the center of view with the left gripper
Pick up the light basket with the left gripper
Pick up the dark basket with the right gripper
Pick up the light basket with the right gripper

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.1",
    "robot_type": "realman",
    "total_episodes": 499,
    "total_frames": 290587,
    "total_tasks": 1,
    "total_videos": 1497,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:499"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "states": {
            "dtype": "float32",
            "shape": [
                30
            ],
            "name": [
                "right_arm_joint_1",
                "right_arm_joint_2",
                "right_arm_joint_3",
                "right_arm_joint_4",
                "right_arm_joint_5",
                "right_arm_joint_6",
                "right_arm_joint_7",
                "right_gripper_joint",
                "right_end_effector_positions_x",
                "right_end_effector_positions_y",
                "right_end_effector_positions_z",
                "right_end_effector_quat_x",
                "right_end_effector_quat_y",
                "right_end_effector_quat_z",
                "right_end_effector_quat_w",
                "left_arm_joint_1",
                "left_arm_joint_2",
                "left_arm_joint_3",
                "left_arm_joint_4",
                "left_arm_joint_5",
                "left_arm_joint_6",
                "left_arm_joint_7",
                "left_gripper_joint",
                "left_end_effector_positions_x",
                "left_end_effector_positions_y",
                "left_end_effector_positions_z",
                "left_end_effector_quat_x",
                "left_end_effector_quat_y",
                "left_end_effector_quat_z",
                "left_end_effector_quat_w"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                30
            ],
            "name": [
                "right_arm_joint_1",
                "right_arm_joint_2",
                "right_arm_joint_3",
                "right_arm_joint_4",
                "right_arm_joint_5",
                "right_arm_joint_6",
                "right_arm_joint_7",
                "right_gripper_joint",
                "right_end_effector_positions_x",
                "right_end_effector_positions_y",
                "right_end_effector_positions_z",
                "right_end_effector_quat_x",
                "right_end_effector_quat_y",
                "right_end_effector_quat_z",
                "right_end_effector_quat_w",
                "left_arm_joint_1",
                "left_arm_joint_2",
                "left_arm_joint_3",
                "left_arm_joint_4",
                "left_arm_joint_5",
                "left_arm_joint_6",
                "left_arm_joint_7",
                "left_gripper_joint",
                "left_end_effector_positions_x",
                "left_end_effector_positions_y",
                "left_end_effector_positions_z",
                "left_end_effector_quat_x",
                "left_end_effector_quat_y",
                "left_end_effector_quat_z",
                "left_end_effector_quat_w"
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "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

```