andreaskoepf/robotwin_dk1_realcam_stack_blocks_three_1000

---
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_three_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 Three** 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 Three
- **Episodes:** 1000
- **Total frames:** 323,557 (317.2 min @ 17 fps)
- **Avg episode length:** 19.0s

### 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

- "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block."
- "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block."
- "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block."
- "Use the right arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them."
- "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block."

## Loading the Dataset

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

dataset = LeRobotDataset("andreaskoepf/robotwin_dk1_realcam_stack_blocks_three_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}
}
```

许可证：Apache-2.0
任务类别：机器人学
标签：LeRobot、RoboTwin、双臂操作（bimanual）、仿真（simulation）
配置项：
- 配置名称：默认
数据文件路径：data/*/*.parquet

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)工具链开发。可通过以下链接可视化本数据集：<a href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=andreaskoepf/robotwin_dk1_realcam_stack_blocks_three_1000">数据集可视化工具</a>，附带明暗主题适配的展示徽章。

## 数据集概述
本数据集包含**堆叠三块积木**任务的双臂操作演示数据，通过[RoboTwin](https://github.com/TianxingChen/RoboTwin)仿真平台构建，并采用领域随机化技术。
- **机器人平台**：TRLC DK1双臂机器人（`bi_dk1_follower`），搭载2台六自由度（6-DOF）机械臂与平行夹爪
- **任务名称**：堆叠三块积木（Stack Blocks Three）
- **演示回合数**：1000
- **总帧数**：323,557（以17 fps帧率计算，总时长约317.2分钟）
- **平均单回合时长**：19.0秒

### 摄像头配置
| 摄像头节点 | 分辨率 | 编码格式 | 帧率 |
|---|---|---|---|
| `observation.images.head` | 640×360 | h264 | 17 |
| `observation.images.left_wrist` | 640×360 | h264 | 17 |
| `observation.images.right_wrist` | 640×360 | h264 | 17 |

### 动作与状态空间
- **`action`**：float32[14] 类型，代表关节位置目标（每台机械臂含6个关节与1个夹爪，总维度为14）
- **`observation.state`**：float32[14] 类型，包含当前关节位置与夹爪状态

### 任务指令说明
1. "使用右臂、左臂与左臂移动红色积木、绿色积木与蓝色积木至桌面中心，随后将蓝色积木堆叠于绿色积木之上，绿色积木堆叠于红色积木之上。"
2. "将红色、绿色与蓝色积木移至桌面中心，并按蓝色叠于绿色、绿色叠于红色的顺序完成堆叠。"
3. "先将红色、绿色与蓝色积木集中至桌面中心，再将蓝色积木堆叠于绿色积木之上，绿色积木堆叠于红色积木之上。"
4. "使用右臂、左臂与右臂移动红色积木、绿色积木与蓝色积木至桌面中心并完成堆叠。"
5. "将红色、绿色与蓝色积木移至桌面中心，按蓝色叠于绿色、绿色叠于红色的顺序完成堆叠。"

### 数据集加载示例
python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("andreaskoepf/robotwin_dk1_realcam_stack_blocks_three_1000")
frame = dataset[0]
print(frame["observation.state"].shape) # torch.Size([14])
print(frame["action"].shape) # torch.Size([14])

### 引用信息
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}
}