Agilex_Cobot_Magic_move_object

Dataset Description

This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.

Task Preview

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Overview

• Total Episodes: 1163

• Total Frames: 478405

• FPS: 30

• Dataset Size: 5.45 GB

• Robot Name: Agilex_Cobot_Magic

• End-Effector Type: two_finger_gripper

• Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.

• Sensors: cam_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb

• Camera Information: cam_head_rgb; cam_left_wrist_rgb; cam_right_wrist_rgb

• Scene: commercial & convenience->supermarket

• Objects: table(unknown), bowl(unknown), pink_long_towel(unknown), blue_long_towel(unknown), round_plate(unknown), rectangular_plate(unknown), pot_spoon(unknown), wok(unknown), corn(unknown), egg_tart(unknown), egg_yolk_pastries(unknown), coffee capsule(unknown), coke (bottled)(unknown), red_bull_canned_drink(unknown), yibao(unknown), mango(unknown), eastern_leaves(unknown), purple_incense(unknown), duck(unknown), toothpaste(unknown), deli_water-based_marker(unknown), bouncy_ball(unknown)

• Task Description: the gripper move the object.

Primary Task Instruction

the gripper move the object.

Robot Configuration

• Robot Name: Agilex_Cobot_Magic
• Codebase Version: v2.1
• End-Effector Type: two_finger_gripper
• Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.

Scene and Objects

Scene Type

commercial & convenience->supermarket

Objects

• table(unknown)
• bowl(unknown)
• pink_long_towel(unknown)
• blue_long_towel(unknown)
• round_plate(unknown)
• rectangular_plate(unknown)
• pot_spoon(unknown)
• wok(unknown)
• corn(unknown)
• egg_tart(unknown)
• egg_yolk_pastries(unknown)
• coffee capsule(unknown)
• coke (bottled)(unknown)
• red_bull_canned_drink(unknown)
• yibao(unknown)
• mango(unknown)
• eastern_leaves(unknown)
• purple_incense(unknown)
• duck(unknown)
• toothpaste(unknown)
• deli_water-based_marker(unknown)
• bouncy_ball(unknown)

Task Descriptions

• Standardized Task Description: the gripper move the object.

• Operation Type: Due to some reasons, this dataset temporarily cannot provide the operation type information.

• Environment Type: Due to some reasons, this dataset temporarily cannot provide the environment type information.

Sub-Tasks

This dataset includes 274 distinct subtasks:

1. Grasp the coffee capsule with the right gripper (Index: 0)
2. Grasp the toothpaste with the left gripper (Index: 1)
3. Grasp the YiBao mineral water with the right gripper (Index: 2)
4. Place the toothpaste on the table with the left gripper (Index: 3)
5. Place the corn into the green plate with the right gripper (Index: 4)
6. Place the egg tart into the pink plate with the right gripper (Index: 5)
7. Grasp the blue towel with the left gripper (Index: 6)
8. Place the blue bowl into the green plate with the right gripper (Index: 7)
9. Place the mango into the blue bowl with the left gripper (Index: 8)
10. Grasp the egg tart with the left gripper (Index: 9)
11. Place the USB box on the table with the left gripper (Index: 10)
12. Place the pink pot on the table with the left gripper (Index: 11)
13. Place the red marker pen on the table with the right gripper (Index: 12)
14. Place the Jia Duo Bao into the green bowl with the left gripper (Index: 13)
15. Place the colorful ball into the pink pot with the right gripper (Index: 14)
16. Place the coffee capsule into the pink pot with the left gripper (Index: 15)
17. Grasp the black box with the left gripper (Index: 16)
18. Place the colorful ball into the pink plate with the right gripper (Index: 17)
19. Grasp the blue bowl with the right gripper (Index: 18)
20. Place the shampoo into the pink plate with the left gripper (Index: 19)
21. Place the red bull into the pink pot with the right gripper (Index: 20)
22. Place the pink towel into the green plate with the right gripper (Index: 21)
23. Place the pink plate on the table with the left gripper (Index: 22)
24. Place the egg tart into the green bowl with the right gripper (Index: 23)
25. Grasp the Incense box with the right gripper (Index: 24)
26. Place the shampoo into the green plate with the left gripper (Index: 25)
27. Place the mango into the blue bowl with the left gripper (Index: 26)
28. Place the USB boxon the table with the left gripper (Index: 27)
29. Place the cooking shovel on the table with the left gripper (Index: 28)
30. Grasp the USB box with the right gripper (Index: 29)
31. Place the XX on the table with the left gripper (Index: 30)
32. Place the toothpaste on the table with the right gripper (Index: 31)
33. Place the colorful ball on the table with the left gripper (Index: 32)
34. Place the YiBao mineral water on the table with the left gripper (Index: 33)
35. Place the blue towel into the green plate with the left gripper (Index: 34)
36. Place the corn into the pink plate with the right gripper (Index: 35)
37. Grasp the green bowl with the right gripper (Index: 36)
38. Place the mango into the pink pot with the right gripper (Index: 37)
39. Place the coffee capsule into the pink plate with the right gripper (Index: 38)
40. Place the coffee capsule into the pink pot with the right gripper (Index: 39)
41. Place the red bull into the green bowl with the right gripper (Index: 40)
42. Place the mango into the green plate with the left gripper (Index: 41)
43. Place the green bowl on the table with the right gripper (Index: 42)
44. Place the brown box into the green bowl with the right gripper (Index: 43)
45. Place the colorful ball into the blue bowl with the left gripper (Index: 44)
46. Place the shampoo on the table with the left gripper (Index: 45)
47. Grasp the toothpaste with the right gripper (Index: 46)
48. Place the red bull into the green plate with the right gripper (Index: 47)
49. Grasp the coffee capsule with the left grippe (Index: 48)
50. Grasp the Luckin Coffee box with the left gripper (Index: 49)
51. Place the mango into the pink pot with the left gripper (Index: 50)
52. Place the coffee capsule into the green plate with the right gripper (Index: 51)
53. Place the persimmon into the pink pot with the left gripper (Index: 52)
54. Place the shampoo into the pink plate with the right gripper (Index: 53)
55. Place the corn on the table with the right gripper (Index: 54)
56. Grasp the coffee capsule with the left gripper (Index: 55)
57. Grasp the pink pot with the left gripper (Index: 56)
58. Place the mango on the table with the left gripper (Index: 57)
59. Place the egg tart on the table with the left gripper (Index: 58)
60. Place the shampoo into the blue bowl with the right gripper (Index: 59)
61. Grasp the USB box with the right gripper (Index: 60)
62. Place the coke into the green plate with the left gripper (Index: 61)
63. Place the egg yolk pastry into the blue bowl with the left gripper (Index: 62)
64. Place the Incense box into the pink plate with the right gripper (Index: 63)
65. Place the pink pot on the table with the left gripper (Index: 64)
66. Place the blue towel on the table with the left gripper (Index: 65)
67. Grasp the Luckin Coffee box with the right gripper (Index: 66)
68. Place the cooking shovel into the pink pot with the right gripper (Index: 67)
69. Place the Incense box into the pink plate with the left gripper (Index: 68)
70. Grasp the egg yolk pastry with the right gripper (Index: 69)
71. Grasp the red marker pen with the left gripper (Index: 70)
72. Grasp the USB box with the left gripper (Index: 71)
73. Place the Jia Duo Bao into the blue bowl with the left gripper (Index: 72)
74. Place the egg yolk pastry into the green bowl with the left gripper (Index: 73)
75. Place the red bull into the pink plate with the left gripper (Index: 74)
76. Place the pink pot into the green plate with the left gripper (Index: 75)
77. Place the red bull on the table with the right gripper (Index: 76)
78. Grasp the coke with the left gripper (Index: 77)
79. Grasp the corn with the right gripper (Index: 78)
80. Place the cooking shovel into the green bowl with the right gripper (Index: 79)
81. Place the corn on the table with the left gripper (Index: 80)
82. Place the red bull into the blue bowl with the left gripper (Index: 81)
83. Place the pink pot into the blue bowl with the right gripper (Index: 82)
84. Place the XX into the green plate with the left gripper (Index: 83)
85. Place the YiBao mineral water into the blue bowl with the right gripper (Index: 84)
86. Grasp the coke with the right gripper (Index: 85)
87. Place the mango into the pink plate with the right gripper (Index: 86)
88. Place the egg tart into the green plate with the left gripper (Index: 87)
89. Place the cooking shovel on the table with the right gripper (Index: 88)
90. Place the red marker pen into the pink plate with the right gripper (Index: 89)
91. Place the Incense box on the table with the right gripper (Index: 90)
92. Place the colorful ball into the blue bowl with the right gripper (Index: 91)
93. Place the XX into the pink pot with the left gripper (Index: 92)
94. Place the blue bowl into the pink plate with the left gripper (Index: 93)
95. Place the mango on the table with the left gripper (Index: 94)
96. Place the blue bowl into the blue bowl with the left gripper (Index: 95)
97. Place the red marker pen into the green plate with the right gripper (Index: 96)
98. Place the corn into the pink plate with the left gripper (Index: 97)
99. Grasp the brown box with the right gripper (Index: 98)
100. Place the Incense box into the pink pot with the left gripper (Index: 99)
101. Place the USB box on the table with the left gripper (Index: 100)
102. Place the coke on the table with the left gripper (Index: 101)
103. Place the colorful ball into the pink plate with the right gripper (Index: 102)
104. Grasp the egg yolk pastry with the right gripper (Index: 103)
105. Place the egg tart into the pink pot with the left gripper (Index: 104)
106. Place the Luckin Coffee box into the pink plate with the left gripper (Index: 105)
107. Place the shampoo on the table with the left gripper (Index: 106)
108. Place the egg tart on the table with the left gripper (Index: 107)
109. Grasp the Jia Duo Baowith the right gripper (Index: 108)
110. Place the XX into the blue bowl with the right gripper (Index: 109)
111. Grasp the red duck with the left gripper (Index: 110)
112. Place the pink towel into the pink plate with the left gripper (Index: 111)
113. Place the blue towel on the table with the left gripper (Index: 112)
114. Place the black box on the table with the right gripper (Index: 113)
115. Place the blue bowl on the table with the right gripper (Index: 114)
116. Place the YiBao mineral water on the table with the right gripper (Index: 115)
117. Place the shampoo into the blue bowl with the right gripper (Index: 116)
118. Abnormal (Index: 117)
119. Place the egg yolk pastry into the pink pot with the right gripper (Index: 118)
120. Grasp the xx with the left gripper (Index: 119)
121. Place the Incense box into the pink pot with the right gripper (Index: 120)
122. Grasp the egg yolk pastry with the left gripper (Index: 121)
123. Place the YiBao mineral water into the green plate with the right gripper (Index: 122)
124. Place the pink pot on the table with the right gripper (Index: 123)
125. Place the colorful ball into the green plate with the left gripper (Index: 124)
126. Place the blue towel on the table with the left gripper (Index: 125)
127. Place the egg tart into the blue bowl with the left gripper (Index: 126)
128. Place the cooking shovel into the blue bowl with the left gripper (Index: 127)
129. Place the blue towel into the green plate with the right gripper (Index: 128)
130. **Grasp the egg yolk pastry with the left gripper ** (Index: 129)
131. Place the pink pot into the green plate with the right gripper (Index: 130)
132. Grasp the mango with the left gripper (Index: 131)
133. Grasp the YiBao mineral water with the left gripper (Index: 132)
134. Place the pink towel into the pink plate with the right gripper (Index: 133)
135. Grasp the blue towel with the left gripper (Index: 134)
136. Place the USB box on the table with the left gripper (Index: 135)
137. Place the pink towel into the green bowl with the right gripper (Index: 136)
138. Place the Jia Duo Bao on the table with the right gripper (Index: 137)
139. Place the USB box on the table with the right gripper (Index: 138)
140. Grasp the persimmon with the left gripper (Index: 139)
141. Place the egg yolk pastry into the pink plate with the right gripper (Index: 140)
142. Grasp the red bull with the left gripper (Index: 141)
143. Grasp the XX with the left gripper (Index: 142)
144. Place the shampoo into the green bowl with the left gripper (Index: 143)
145. Place the mango into the pink plate with the left gripper (Index: 144)
146. Place the blue towel on the table with the left gripper (Index: 145)
147. Grasp the red bull with the right gripper (Index: 146)
148. Grasp the cooking shovel with the right gripper (Index: 147)
149. Grasp the black box with the right gripper (Index: 148)
150. Place the green bowl on the table with the left gripper (Index: 149)
151. Place the cooking shovel into the green plate with the right gripper (Index: 150)
152. Place the cooking shovel into the blue bowl with the right gripper (Index: 151)
153. Grasp the Incense box with the left gripper (Index: 152)
154. Grasp the colorful ball with the left gripper (Index: 153)
155. Place the Incense box on the table with the left gripper (Index: 154)
156. Place the mango into the blue bowl with the right gripper (Index: 155)
157. Place the YiBao mineral water into the pink plate with the left gripper (Index: 156)
158. Grasp the pink towel with the left gripper (Index: 157)
159. Place the XX on the table with the right gripper (Index: 158)
160. Place the egg yolk pastry into the pink pot with the left gripper (Index: 159)
161. Place the coffee capsule into the pink plate with the left gripper (Index: 160)
162. Grasp the green bowl with the left gripper (Index: 161)
163. Grasp the Luckin Coffee box with the right gripper (Index: 162)
164. Place the egg tart on the table with the right gripper (Index: 163)
165. Place the Jia Duo Bao on the table with the left gripper (Index: 164)
166. Place the toothpaste on the table with the left gripper (Index: 165)
167. Place the brown box into the green plate with the left gripper (Index: 166)
168. Place the red marker pen into the green plate with the left gripper (Index: 167)
169. Place the colorful ball on the table with the left gripper (Index: 168)
170. Place the red bull on the table with the left gripper (Index: 169)
171. Grasp the blue towel with the left gripper (Index: 170)
172. Place the blue towel into the green bowl with the right gripper (Index: 171)
173. Place the coffee capsule into the blue bowl with the right gripper (Index: 172)
174. Grasp the mango with the right gripper (Index: 173)
175. Place the coke into the green plate with the right gripper (Index: 174)
176. Place the egg yolk pastry into the pink plate with the left gripper (Index: 175)
177. Place the YiBao mineral water on the table with the left gripper (Index: 176)
178. Place the coffee capsule on the table with the left gripper (Index: 177)
179. Place the XX into the green plate with the right gripper (Index: 178)
180. Place the Jia Duo Bao into the green plate with the right gripper (Index: 179)
181. Place the pink towel on the table with the right gripper (Index: 180)
182. Place the USB box on the table with the right gripper (Index: 181)
183. Place the egg yolk pastry on the table with the right gripper (Index: 182)
184. Place the Jia Duo Bao into the pink plate with the left gripper (Index: 183)
185. Place the black box on the table with the left gripper (Index: 184)
186. Grasp the pink plate with the left gripper (Index: 185)
187. Place the coffee capsule on the table with the right gripper (Index: 186)
188. Place the mango on the table with the right gripper (Index: 187)
189. Grasp the corn with the left gripper (Index: 188)
190. Place the shampoo on the table with the right gripper (Index: 189)
191. Place the Jia Duo Bao into the pink plate with the right gripper (Index: 190)
192. Place the pink towel into the green plate with the left gripper (Index: 191)
193. Place the egg yolk pastry into the green bowl with the right gripper (Index: 192)
194. Place the red bull into the blue bowl with the right gripper (Index: 193)
195. Place the cooking shovel into the green bowl with the right gripper (Index: 194)
196. Grasp the XX with the right gripper (Index: 195)
197. Place the brown box into the green plate with the left gripper (Index: 196)
198. Place the blue towel on the table with the right gripper (Index: 197)
199. Grasp the cooking shovel with the left gripper (Index: 198)
200. Grasp the cooking shovel with the left gripper (Index: 199)
201. Place the red marker pen on the table with the left gripper (Index: 200)
202. Place the XX into the pink plate with the right gripper (Index: 201)
203. Place the Incense box into the green plate with the right gripper (Index: 202)
204. Place the pink towel on the table with the left gripper (Index: 203)
205. Place the cooking shovel on the table with the right gripper (Index: 204)
206. Grasp the red marker pen with the right gripper (Index: 205)
207. Place the XX into the pink plate with the left gripper (Index: 206)
208. Grasp the colorful ball with the right gripper (Index: 207)
209. Place the egg yolk pastry into the blue bowl with the left gripper (Index: 208)
210. Place the coke on the table with the left gripper (Index: 209)
211. Place the blue bowl into the green plate with the left gripper (Index: 210)
212. Place the Incense box into the blue bowl with the left gripper (Index: 211)
213. Place the cooking shovel into the green plate with the left gripper (Index: 212)
214. Place the colorful ball on the table with the left gripper (Index: 213)
215. Place the egg yolk pastry into the green plate with the right gripper (Index: 214)
216. Grasp the red marker pen cwith the right gripper (Index: 215)
217. Grasp the pink towel with the right gripper (Index: 216)
218. Grasp the shampoo with the left gripper (Index: 217)
219. Place the brown box the table with the right gripper (Index: 218)
220. Place the YiBao mineral water into the pink plate with the right gripper (Index: 219)
221. Grasp the Jia Duo Bao with the right gripper (Index: 220)
222. Place the colorful ball into the pink plate with the left gripper (Index: 221)
223. Place the egg yolk pastry into the blue bowl with the right gripper (Index: 222)
224. Place the egg tart into the pink pot with the left gripper (Index: 223)
225. Grasp the egg tart with the right gripper (Index: 224)
226. Place the xx into the pink plate with the left gripper (Index: 225)
227. Place the red duck on the table with the left gripper (Index: 226)
228. Grasp the Jia Duo Bao with the left gripper (Index: 227)
229. Place the Incense box into the pink plate with the left gripper (Index: 228)
230. Place the egg tart on the table with the left gripper (Index: 229)
231. Grasp the Jia Duo Bao with the left gripper (Index: 230)
232. Place the Incense box on the table with the left gripper (Index: 231)
233. Place the Luckin Coffee box on the table with the left gripper (Index: 232)
234. Place the coke on the table with the right gripper (Index: 233)
235. Place the pink towel on the table with the left gripper (Index: 234)
236. Place the red bull into the pink plate with the left gripper (Index: 235)
237. Place the coffee capsule into the green plate with the left gripper (Index: 236)
238. Place the blue towel into the green plate with the left gripper (Index: 237)
239. Place the shampoo into the green plate with the right gripper (Index: 238)
240. Place the mango into the green plate with the right gripper (Index: 239)
241. Place the colorful ball into the pink pot with the left gripper (Index: 240)
242. Place the Jia Duo Bao into the blue bowl with the right gripper (Index: 241)
243. Grasp the USB box with the left gripper (Index: 242)
244. Place the Jia Duo Bao into the green plate with the left gripper (Index: 243)
245. Place the corn into the green plate with the left gripper (Index: 244)
246. Place the Luckin Coffee box on the table with the left gripper (Index: 245)
247. Place the Jia Duo Bao into the pink pot with the right gripper (Index: 246)
248. Place the egg tart into the pink plate with the left gripper (Index: 247)
249. Place the blue square on the table with the right gripper (Index: 248)
250. Place the red marker pen into the blue bowl with the right gripper (Index: 249)
251. Grasp the red bull with the right gripper (Index: 250)
252. Place the Luckin Coffee box on the table with the right gripper (Index: 251)
253. Place the egg tart into the pink pot with the right gripper (Index: 252)
254. Place the colorful ball into the green bowl with the left gripper (Index: 253)
255. Grasp the blue towel with the right gripper (Index: 254)
256. Place the egg tart into the green bowl with the left gripper (Index: 255)
257. Place the Luckin Coffee box on the table with the right gripper (Index: 256)
258. Grasp the brown box with the left gripper (Index: 257)
259. Place the brown box on the table with the left gripper (Index: 258)
260. Place the brown box on the table with the right gripper (Index: 259)
261. Place the corn on the table with the left gripper (Index: 260)
262. Grasp the shampoo with the right gripper (Index: 261)
263. Place the blue bowl on the table with the left gripper (Index: 262)
264. End (Index: 263)
265. Place the Jia Duo Bao into the green bowl with the right gripper (Index: 264)
266. Place the colorful ball on the table with the right gripper (Index: 265)
267. Place the coke into the blue bowl with the left gripper (Index: 266)
268. Grasp the blue square with the right gripper (Index: 267)
269. Place the coke into the pink pot with the left gripper (Index: 268)
270. Grasp the blue bowl with the left gripper (Index: 269)
271. Place the egg yolk pastry on the table with the left gripper (Index: 270)
272. Place the egg yolk pastry on the table with the left gripper (Index: 271)
273. Grasp the pink pot with the right gripper (Index: 272)
274. null (Index: 273)

Atomic Actions

• grasp
• lift
• lower

Hardware and Sensors

Sensors

• cam_head_rgb

• cam_left_wrist_rgb

• cam_right_wrist_rgb

Camera Information

• cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

• cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

• cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p

Coordinate System

• Definition: right-hand-frame

Dimensions & Units

• Joint Rotation: radian
• End-Effector Rotation: radian
• End-Effector Translation: meter

Dataset Statistics

Metric	Value
Total Episodes	1163
Total Frames	478405
Total Tasks	274
Total Videos	3489
Total Chunks	2
Chunk Size	1000
FPS	30
State Dimensions	26
Action Dimensions	26
Camera Views	3
Dataset Size	5.45 GB

Data Splits

The dataset is organized into the following splits:

• Training: Episodes 0:1162

Dataset Structure

This dataset follows the LeRobot format and contains the following components:

Data Files

• Videos: Compressed video files containing RGB camera observations
• State Data: Robot joint positions, velocities, and other state information
• Action Data: Robot action commands and trajectories
• Metadata: Episode metadata, timestamps, and annotations

File Organization

• Data Path Pattern: data/chunk-{id}/episode_{id}.parquet
• Video Path Pattern: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
• Chunking: Data is organized into 2 chunk(s) of size 1000

Data Structure (Tree)

Agilex_Cobot_Magic_Agilex_Cobot_Magic_move_object_qced_hardlink/
|-- annotations
|   |-- eef_acc_mag_annotation.jsonl
|   |-- eef_direction_annotation.jsonl
|   |-- eef_velocity_annotation.jsonl
|   |-- gripper_activity_annotation.jsonl
|   |-- gripper_mode_annotation.jsonl
|   |-- scene_annotations.jsonl
|   `-- subtask_annotations.jsonl
|-- data
|   |-- chunk-000
|   |   |-- episode_000000.parquet
|   |   |-- episode_000001.parquet
|   |   |-- episode_000002.parquet
|   |   |-- episode_000003.parquet
|   |   |-- episode_000004.parquet
|   |   |-- episode_000005.parquet
|   |   |-- episode_000006.parquet
|   |   |-- episode_000007.parquet
|   |   |-- episode_000008.parquet
|   |   |-- episode_000009.parquet
|   |   |-- episode_000010.parquet
|   |   `-- episode_000011.parquet
|   |   `-- ... (988 more entries)
|   `-- chunk-001
|       |-- episode_001000.parquet
|       |-- episode_001001.parquet
|       |-- episode_001002.parquet
|       |-- episode_001003.parquet
|       |-- episode_001004.parquet
|       |-- episode_001005.parquet
|       |-- episode_001006.parquet
|       |-- episode_001007.parquet
|       |-- episode_001008.parquet
|       |-- episode_001009.parquet
|       |-- episode_001010.parquet
|       `-- episode_001011.parquet
|       `-- ... (151 more entries)
|-- meta
|   |-- episodes.jsonl
|   |-- episodes_stats.jsonl
|   |-- info.json
|   `-- tasks.jsonl
|-- videos
|   |-- chunk-000
|   |   |-- observation.images.cam_head_rgb
|   |   |-- observation.images.cam_left_wrist_rgb
|   |   `-- observation.images.cam_right_wrist_rgb
|   `-- chunk-001
|       |-- observation.images.cam_head_rgb
|       |-- observation.images.cam_left_wrist_rgb
|       `-- observation.images.cam_right_wrist_rgb
|-- info.yaml
`-- README.md

Camera Views

This dataset includes 3 camera views: cam_head_rgb, cam_left_wrist_rgb, cam_right_wrist_rgb.

Features (Full YAML)

observation.images.cam_head_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.images.cam_left_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.images.cam_right_wrist_rgb:
  dtype: video
  shape:
  - 480
  - 640
  - 3
  names:
  - height
  - width
  - channels
  info:
    video.height: 480
    video.width: 640
    video.codec: av1
    video.pix_fmt: yuv420p
    video.is_depth_map: false
    video.fps: 30
    video.channels: 3
    has_audio: false
observation.state:
  dtype: float32
  shape:
  - 26
  names:
  - left_arm_joint_1_rad
  - left_arm_joint_2_rad
  - left_arm_joint_3_rad
  - left_arm_joint_4_rad
  - left_arm_joint_5_rad
  - left_arm_joint_6_rad
  - left_gripper_open
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_rad
  - right_arm_joint_1_rad
  - right_arm_joint_2_rad
  - right_arm_joint_3_rad
  - right_arm_joint_4_rad
  - right_arm_joint_5_rad
  - right_arm_joint_6_rad
  - right_gripper_open
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
action:
  dtype: float32
  shape:
  - 26
  names:
  - left_arm_joint_1_rad
  - left_arm_joint_2_rad
  - left_arm_joint_3_rad
  - left_arm_joint_4_rad
  - left_arm_joint_5_rad
  - left_arm_joint_6_rad
  - left_gripper_open
  - left_eef_pos_x_m
  - left_eef_pos_y_m
  - left_eef_pos_z_m
  - left_eef_rot_euler_x_rad
  - left_eef_rot_euler_y_rad
  - left_eef_rot_euler_z_rad
  - right_arm_joint_1_rad
  - right_arm_joint_2_rad
  - right_arm_joint_3_rad
  - right_arm_joint_4_rad
  - right_arm_joint_5_rad
  - right_arm_joint_6_rad
  - right_gripper_open
  - right_eef_pos_x_m
  - right_eef_pos_y_m
  - right_eef_pos_z_m
  - right_eef_rot_euler_x_rad
  - right_eef_rot_euler_y_rad
  - right_eef_rot_euler_z_rad
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
subtask_annotation:
  names: null
  shape:
  - 5
  dtype: int32
scene_annotation:
  names: null
  shape:
  - 1
  dtype: int32
eef_sim_pose_state:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  shape:
  - 12
  dtype: float32
eef_sim_pose_action:
  names:
  - left_eef_pos_x
  - left_eef_pos_y
  - left_eef_pos_z
  - left_eef_rot_x
  - left_eef_rot_y
  - left_eef_rot_z
  - right_eef_pos_x
  - right_eef_pos_y
  - right_eef_pos_z
  - right_eef_rot_x
  - right_eef_rot_y
  - right_eef_rot_z
  shape:
  - 12
  dtype: float32
eef_direction_state:
  names:
  - left_eef_direction
  - right_eef_direction
  shape:
  - 2
  dtype: int32
eef_direction_action:
  names:
  - left_eef_direction
  - right_eef_direction
  shape:
  - 2
  dtype: int32
eef_velocity_state:
  names:
  - left_eef_velocity
  - right_eef_velocity
  shape:
  - 2
  dtype: int32
eef_velocity_action:
  names:
  - left_eef_velocity
  - right_eef_velocity
  shape:
  - 2
  dtype: int32
eef_acc_mag_state:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  shape:
  - 2
  dtype: int32
eef_acc_mag_action:
  names:
  - left_eef_acc_mag
  - right_eef_acc_mag
  shape:
  - 2
  dtype: int32
gripper_mode_state:
  names:
  - left_gripper_mode
  - right_gripper_mode
  shape:
  - 2
  dtype: int32
gripper_mode_action:
  names:
  - left_gripper_mode
  - right_gripper_mode
  shape:
  - 2
  dtype: int32
gripper_activity_state:
  names:
  - left_gripper_activity
  - right_gripper_activity
  shape:
  - 2
  dtype: int32
gripper_activity_action:
  names:
  - left_gripper_activity
  - right_gripper_activity
  shape:
  - 2
  dtype: int32
gripper_open_scale_state:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float32
  shape:
  - 2
gripper_open_scale_action:
  names:
  - left_gripper_open_scale
  - right_gripper_open_scale
  dtype: float32
  shape:
  - 2

Available Annotations

This dataset includes rich annotations to support diverse learning approaches:

• eef_acc_mag_annotation.jsonl
• eef_direction_annotation.jsonl
• eef_velocity_annotation.jsonl
• gripper_activity_annotation.jsonl
• gripper_mode_annotation.jsonl
• scene_annotations.jsonl
• subtask_annotations.jsonl

Dataset Tags

• RoboCOIN
• LeRobot

Authors

Contributors

This dataset is contributed by:-RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)

Annotators

No annotator information available.

Links

• Homepage: https://flagopen.github.io/RoboCOIN/
• Paper: https://arxiv.org/abs/2511.17441
• Repository: https://github.com/FlagOpen/RoboCOIN

Contact and Support

For questions, issues, or feedback regarding this dataset, please contact us.

Support

For technical support, please open an issue on our GitHub repository.

License

apache-2.0

Citation

If you use this dataset in your research, please cite:

@article{robocoin,
  title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
  author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
  journal={arXiv preprint arXiv:2511.17441},
  url = {https://arxiv.org/abs/2511.17441},
  year={2025},
  }

Additional References

If you use this dataset, please also consider citing: LeRobot Framework: https://github.com/huggingface/lerobot

Version Information

Initial Release