realman_rmc_aidal_basket_storage_long_bread

# realman_rmc_aidal_basket_storage_long_bread_qced_hardlink

## 📋 Overview

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

**Robot Type:** `realman_rmc_aidal`
| **Codebase Version:** `v2.1`

## 📊 Dataset Statistics

| Metric | Value |
|--------|-------|
| **Total Episodes** | 753 |
| **Total Frames** | 343253 |
| **Total Tasks** | 6 |
| **Total Videos** | 2259 |
| **Total Chunks** | 1 |
| **Chunk Size** | 1000 |
| **FPS** | 30 |

## 👥 Authors

### Contributors
This dataset is contributed by:
- [RoboCoin](https://RoboCoin.github.io) - RoboCoin Team

## 🔗 Links

- **🏠 Homepage:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📄 Paper:** [in comming](in comming)
- **💻 Repository:** [https://github.com/RoboCoin/robocoin-dataset](https://github.com/RoboCoin/robocoin-dataset)
- **🌐 Project Page:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📜 License:** apache-2.0

## 🏷️ Dataset Tags

- `RoboCoin`
- `LeRobot`

## 🎯 Task Descriptions

### Primary Tasks
the left gripper pick up the basket to the appropriate position, the right gripper pick up the long bread and place it into the basket.
the right gripper pick up the basket to the appropriate position, the left gripper pick up the long bread and place it into the basket.
the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the long bread and place it into the black basket.
the right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the long bread and place it into the black basket.
the left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the long bread and place it into the yellow basket.
the right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the long bread and place it into the yellow basket.

### Sub-Tasks
Abnormal
end
Grasp the basket with the left gripper
Grasp the long bread with right gripper
Move the light basket to the center of view with the left gripper
null
Pick up the basket with the left gripper
Pick up the basket with the right gripper
Pick up the dark basket with the left gripper
Pick up the dark basket with the right gripper
Pick up the light basket with the left gripper
Pick up the light basket with the right gripper
Pick up the long bread with the left gripper
Pick up the long bread with the right gripper
Place the basket in the center of the table with the left gripper
Place the basket in the center of view with the left gripper
Place the basket in the center of view with the right gripper
Place the dark basket in the center of view with the left gripper
Place the dark basket in the center of view with the right gripper
Place the light basket in the center of view with the left gripper
Place the light basket in the center of view with the right gripper
Place the long bread in the basket with right gripper
Place the long bread into the basket with the left gripper
Place the long bread into the basket with the right gripper
Place the long bread into the dark basket with the left gripper
Place the long bread into the dark basket with the right gripper
Place the long bread into the light basket with the left gripper
Place the long bread into the light basket with the right gripper
Static

## 🎥 Camera Views

This dataset includes 14 camera views.

## 🏷️ Available Annotations

This dataset includes rich annotations to support diverse learning approaches:

### Subtask Annotations
- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
### Scene Annotations
- **Scene-level Descriptions**: Semantic scene classifications and descriptions
### End-Effector Annotations
- **Direction**: Movement direction classifications for robot end-effectors
- **Velocity**: Velocity magnitude categorizations during manipulation
- **Acceleration**: Acceleration magnitude classifications for motion analysis

### Gripper Annotations
- **Gripper Mode**: Open/close state annotations for gripper control
- **Gripper Activity**: Activity state classifications (active/inactive)

### Additional Features
- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
- Available for both state and action
- **Gripper Opening Scale**: Continuous gripper opening measurements
- Available for both state and action

## 📂 Data Splits

The dataset is organized into the following splits:

- **Training**: Episodes 0:752

## 📁 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-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
- **Chunking**: Data is organized into 1 chunk(s)
of size 1000

### Features Schema

The dataset includes the following features:

#### Visual Observations
- **observation.images.cam_high_rgb**: video
- FPS: 30
- Codec: av1- **observation.images.cam_left_wrist_rgb**: video
- FPS: 30
- Codec: av1- **observation.images.cam_right_wrist_rgb**: video
- FPS: 30
- Codec: av1

#### State and Action- **observation.state**: float32- **action**: float32

#### Temporal Information
- **timestamp**: float32
- **frame_index**: int64
- **episode_index**: int64
- **index**: int64
- **task_index**: int64

#### Annotations
- **subtask_annotation**: int32
- **scene_annotation**: int32

#### Motion Features
- **eef_sim_pose_state**: float32
- Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
- **eef_sim_pose_action**: float32
- Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
- **eef_direction_state**: int32
- Dimensions: left_eef_direction, right_eef_direction
- **eef_direction_action**: int32
- Dimensions: left_eef_direction, right_eef_direction
- **eef_velocity_state**: int32
- Dimensions: left_eef_velocity, right_eef_velocity
- **eef_velocity_action**: int32
- Dimensions: left_eef_velocity, right_eef_velocity
- **eef_acc_mag_state**: int32
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
- **eef_acc_mag_action**: int32
- Dimensions: left_eef_acc_mag, right_eef_acc_mag

#### Gripper Features
- **gripper_open_scale_state**: float32
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
- **gripper_open_scale_action**: float32
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
- **gripper_mode_state**: int32
- Dimensions: left_gripper_mode, right_gripper_mode
- **gripper_mode_action**: int32
- Dimensions: left_gripper_mode, right_gripper_mode
- **gripper_activity_state**: int32
- Dimensions: left_gripper_activity, right_gripper_activity
- **gripper_activity_action**: int32
- Dimensions: left_gripper_activity, right_gripper_activity

### Meta Information

The complete dataset metadata is available in [meta/info.json](meta/info.json):

```json
{"codebase_version": "v2.1", "robot_type": "realman_rmc_aidal", "total_episodes": 753, "total_frames": 343253, "total_tasks": 6, "total_videos": 2259, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:752"}, "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_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": [28], "names": ["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_arm_joint_7_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", "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_arm_joint_7_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"]}, "action": {"dtype": "float32", "shape": [28], "names": ["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_arm_joint_7_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", "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_arm_joint_7_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"]}, "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, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "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]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}, "gripper_activity_action": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
```

### Directory Structure

The dataset is organized as follows (showing leaf directories with first 5 files only):

```
realman_rmc_aidal_basket_storage_long_bread_qced_hardlink/
├── annotations/
│ ├── eef_acc_mag_annotation.jsonl
│ ├── eef_direction_annotation.jsonl
│ ├── eef_velocity_annotation.jsonl
│ ├── gripper_activity_annotation.jsonl
│ ├── gripper_mode_annotation.jsonl
│ └── (...)
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ ├── episode_000002.parquet
│ ├── episode_000003.parquet
│ ├── episode_000004.parquet
│ └── (...)
├── meta/
│ ├── episodes.jsonl
│ ├── episodes_stats.jsonl
│ ├── info.json
│ └── tasks.jsonl
└── videos/
└── chunk-000/
├── observation.images.cam_high_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
├── observation.images.cam_left_wrist_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
└── observation.images.cam_right_wrist_rgb/
├── episode_000000.mp4
├── episode_000001.mp4
├── episode_000002.mp4
├── episode_000003.mp4
├── episode_000004.mp4
└── (...)
```

## 📞 Contact and Support

For questions, issues, or feedback regarding this dataset, please contact:
- **Email:** [e-mail]
For questions, issues, or feedback regarding this dataset, please contact us.

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

## 📄 License

This dataset is released under the **apache-2.0** license.

Please refer to the LICENSE file for full license terms and conditions.

## 📚 Citation

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

```bibtex
None
```

### Additional References

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

## 📌 Version Information

## Version History
- v1.0.0 (2025-11): Initial release