---
license: cc-by-nc-sa-4.0
---
# M7 pick place example

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## Dataset Description

This dataset contains multimodal robotic manipulation trajectories of an M7 Robot equipped with the xhand_norm dexterous hand. The recorded task is a fundamental tabletop Pick-and-Place sequence involving two distinct objects.

The dataset is formatted for seamless integration with the LeRobot library, making it ideal for training Vision-Language-Action (VLA) models.

---

## Dataset Structure

### Directory Layout

```
Pick_Apple_Mango/
├── 2031605/              # Split 1 (491 episodes, 118,555 frames)
│   ├── data/
│   │   └── chunk-000/
│   │       ├── episode_000000.parquet
│   │       ├── episode_000001.parquet
│   │       └── ...
│   ├── meta/
│   │   ├── episodes.jsonl      # episode length & task descriptions
│   │   ├── info.json           # field definitions, robot type, etc.
│   │   ├── joint_indexes.json  # semantic names for action/state dimensions
│   │   └── tasks.jsonl         # 16 natural-language task instructions
│   └── videos/
│       └── ...
├── 2031607/              # Split 2 (255 episodes, 46,742 frames)
│   └── ...
├── 2031704/             # Split 3 (720 episodes, 121,158 frames)
│   └── ...
└── .cache/              # LeRobot internal cache (safe to ignore)
```

### Data Format

Each record (one row in a parquet file) follows the [LeRobot format](https://github.com/huggingface/lerobot):

| Field | Type | Shape | Description |
|-------|------|-------|-------------|
| `observation.images.cam_high` | video (h264) | [480, 848, 3] | Overhead camera, 848×480, 20fps |
| `observation.images.cam_left` | video (h264) | [480, 640, 3] | Left shoulder camera, 640×480, 20fps |
| `observation.images.cam_right` | video (h264) | [480, 640, 3] | Right shoulder camera, 640×480, 20fps |
| `observation.state` | float32 | [57] | Full robot state (arms + end-effectors + hands) |
| `action` | float32 | [38] | Dual-arm end-effector + dexterous hand actions |
| `episode_index` | int64 | [1] | Episode index |
| `frame_index` | int64 | [1] | Frame index within the episode |
| `task_index` | int64 | [1] | Task index (0–15) |
| `timestamp` | float32 | [1] | Timestamp (seconds) |

> **Note**: Actions are expressed as absolute end-effector pose (xyz + quaternion) combined with dexterous hand joint angles. See `meta/joint_indexes.json` for full semantic labels.

---

## Dataset Statistics

> ⚠️ All three splits combined

| Statistic | Value |
|-----------|-------|
| **Total Episodes** | **1,466** |
| **Total Frames** | **286,455** |
| **Total Videos** | 4,398 |
| **Robot Type** | M7_XHAND1 (dual-arm + bi-manual hands) |
| **Average Episode Length** | ~195 frames |
| **FPS** | 20 Hz |
| **Collection Environment** | Indoor tabletop (real-world) |
| **Object Categories** | Apple, Mango |

### Split Breakdown

| Split | Episodes | Frames | Videos |
|-------|----------|--------|--------|
| 2031605 | 491 | 118,555 | 1,473 |
| 2031607 | 255 | 46,742 | 765 |
| 2031704 | 720 | 121,158 | 2,160 |

### Action / State Dimensions

| Field | Dimensions | Composition |
|-------|-----------|-------------|
| `action` | 38 | Right end-effector (7: xyz + quat(xyzw)) + Right hand (12) + Left end-effector (7) + Left hand (12) |
| `observation.state` | 57 | Right arm joints (7) + Left arm joints (7) + Dual end-effector poses (14) + Dual hands (24) + Waist/Neck (5) |

---

## Camera Configuration

| Camera | Resolution | FPS | Codec | View |
|--------|-----------|-----|-------|------|
| `cam_high` | 848×480 | 20 | h264 | Overhead — full tabletop view |
| `cam_left` | 640×480 | 20 | h264 | Left hand perspective |
| `cam_right` | 640×480 | 20 | h264 | Right hand perspective |

---

## Robot System

- **Model**: M7_XHAND1 (dual-arm collaborative robot)
- **Arms**: 7 DoF each (shoulder_pitch, shoulder_roll, arm_yaw, elbow_pitch, elbow_yaw, wrist_pitch, wrist_roll)
- **Dexterous Hands**: 12 DoF per hand (thumb_bend, thumb_rota1, thumb_rota2, index_bend, index_joint1, index_joint2, mid_joint1, mid_joint2, ring_joint1, ring_joint2, pinky_joint1, pinky_joint2; left hand has an additional ring_joint2)
- **Additional Joints**: Waist 3 DoF + Neck 2 DoF
- **End-Effectors**: 7 DoF (position xyz + quaternion orientation (xyzw))
- **Dataset Codebase Version**: LeRobot `v2.0`

---


## Dataset Card Authors

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