andreaskoepf/dk1_duplo_sorting_by_size_2026-04-05

This dataset was created using LeRobot.

Dataset Description

Bimanual Lego Duplo sorting by size

• Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
• Task: sort duplo bricks by size, large to the right and small to the left
• Episodes: 51
• Total frames: 60,393 (33.6 min @ 30 fps)
• Avg episode length: 39.5s
• License: apache-2.0

Cameras

Camera	Resolution	Codec	FPS
observation.images.head	640x360	h264	30
observation.images.left_wrist	640x360	h264	30
observation.images.right_wrist	640x360	h264	30

Observation Space

• observation.state: float32[40] — left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_joint_6.pos... (joint positions, velocities, torques for both arms + grippers)
• observation.images.*: 3 camera streams

Action Space

• action: float32[14] — left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_joint_6.pos... (joint position targets for both arms + grippers)

Loading the Dataset

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("andreaskoepf/dk1_duplo_sorting_by_size_2026-04-05")

# Access a frame
frame = dataset[0]
print(frame["observation.state"].shape)  # torch.Size([40])
print(frame["action"].shape)             # torch.Size([14])
print(frame["observation.images.head"].shape)  # torch.Size([3, 720, 1280])

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_dk1_follower",
    "total_episodes": 51,
    "total_frames": 60393,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 8,
    "video_files_size_in_mb": 5209,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos",
                "left_joint_1.vel",
                "left_joint_2.vel",
                "left_joint_3.vel",
                "left_joint_4.vel",
                "left_joint_5.vel",
                "left_joint_6.vel",
                "right_joint_1.vel",
                "right_joint_2.vel",
                "right_joint_3.vel",
                "right_joint_4.vel",
                "right_joint_5.vel",
                "right_joint_6.vel",
                "left_joint_1.torque",
                "left_joint_2.torque",
                "left_joint_3.torque",
                "left_joint_4.torque",
                "left_joint_5.torque",
                "left_joint_6.torque",
                "left_gripper.torque",
                "right_joint_1.torque",
                "right_joint_2.torque",
                "right_joint_3.torque",
                "right_joint_4.torque",
                "right_joint_5.torque",
                "right_joint_6.torque",
                "right_gripper.torque"
            ],
            "shape": [
                40
            ]
        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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:

@misc{andreaskoepf_dk1_duplo_sorting_by_size_2026_04_05,
  title = {sort duplo bricks by size, large to the right and small to the left},
  author = {The Robot Learning Company},
  year = {2026},
  publisher = {HuggingFace},
  url = {https://huggingface.co/datasets/andreaskoepf/dk1_duplo_sorting_by_size_2026-04-05}
}