---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=andreaskoepf/dk1_flip_coaster">
<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

Flip the coaster upside down.

- **Robot:** TRLC DK1 bimanual (`bi_dk1_follower`) — 2× 6-DOF arms with grippers
- **Task:** Turn the coaster over.
- **Episodes:** 16
- **Total frames:** 10,489 (5.8 min @ 30 fps)
- **Avg episode length:** 21.9s
- **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_1.vel, left_joint_1.torque, left_joint_2.pos, left_joint_2.vel, left_joint_2.torque... (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

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

dataset = LeRobotDataset("andreaskoepf/dk1_flip_coaster")

# 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](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": "bi_dk1_follower",
    "total_episodes": 16,
    "total_frames": 10489,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 2,
    "video_files_size_in_mb": 1004,
    "fps": 30,
    "splits": {
        "train": "0:16"
    },
    "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_1.vel",
                "left_joint_1.torque",
                "left_joint_2.pos",
                "left_joint_2.vel",
                "left_joint_2.torque",
                "left_joint_3.pos",
                "left_joint_3.vel",
                "left_joint_3.torque",
                "left_joint_4.pos",
                "left_joint_4.vel",
                "left_joint_4.torque",
                "left_joint_5.pos",
                "left_joint_5.vel",
                "left_joint_5.torque",
                "left_joint_6.pos",
                "left_joint_6.vel",
                "left_joint_6.torque",
                "left_gripper.pos",
                "left_gripper.torque",
                "right_joint_1.pos",
                "right_joint_1.vel",
                "right_joint_1.torque",
                "right_joint_2.pos",
                "right_joint_2.vel",
                "right_joint_2.torque",
                "right_joint_3.pos",
                "right_joint_3.vel",
                "right_joint_3.torque",
                "right_joint_4.pos",
                "right_joint_4.vel",
                "right_joint_4.torque",
                "right_joint_5.pos",
                "right_joint_5.vel",
                "right_joint_5.torque",
                "right_joint_6.pos",
                "right_joint_6.vel",
                "right_joint_6.torque",
                "right_gripper.pos",
                "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:**

```bibtex
@misc{andreaskoepf_dk1_flip_coaster,
  title = {Turn the coaster over.},
  author = {The Robot Learning Company},
  year = {2026},
  publisher = {HuggingFace},
  url = {https://huggingface.co/datasets/andreaskoepf/dk1_flip_coaster}
}
```