---
task_categories:
- robotics
tags:
- LeRobot
- raiden
- yam
configs:
- config_name: default
  data_files: data/*/*.parquet
---

<!-- generated by rd export_lerobot -->
# pick_block_red

Bimanual manipulation demonstrations recorded with [Raiden](https://github.com/TRI-ML/raiden) and exported to the [LeRobot](https://github.com/huggingface/lerobot) v3.0 format.

## Dataset

- **Codebase version:** v3.0
- **Robot type:** yam
- **Episodes:** 30
- **Frames:** 12833
- **Tasks:** 1
- **FPS:** 30

## Features

| Key | dtype | Shape |
|---|---|---|
| `action` | float32 | (7,) |
| `action.ee_pose` | float32 | (13,) |
| `episode_index` | int64 | (1,) |
| `frame_index` | int64 | (1,) |
| `index` | int64 | (1,) |
| `observation.effort` | float32 | (7,) |
| `observation.extrinsics.left_wrist_camera` | float32 | (16,) |
| `observation.extrinsics.scene_camera` | float32 | (16,) |
| `observation.images.depth_scene_camera` | video | (480, 640, 1) |
| `observation.images.left_wrist_camera` | video | (480, 640, 3) |
| `observation.images.scene_camera` | video | (480, 640, 3) |
| `observation.intrinsics.left_wrist_camera` | float32 | (9,) |
| `observation.intrinsics.scene_camera` | float32 | (9,) |
| `observation.leader.joint_effort` | float32 | (6,) |
| `observation.leader.joint_position` | float32 | (6,) |
| `observation.leader.joint_velocity` | float32 | (6,) |
| `observation.state` | float32 | (7,) |
| `observation.state.ee_pose` | float32 | (13,) |
| `observation.timestamp_ns` | int64 | (1,) |
| `observation.velocity` | float32 | (7,) |
| `task_index` | int64 | (1,) |
| `timestamp` | float32 | (1,) |

Camera intrinsics are stored per frame as `observation.intrinsics.<camera>`
(flattened 3x3), and wrist-camera extrinsics as `observation.extrinsics.<camera>`.
Depth is 12-bit logarithmically quantized in the video stream; a lossless
first frame of each episode (RGB PNG + uint16 depth PNG + calibration JSON)
is archived under `meta/keyframes/` for pose estimation.

## Usage

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

dataset = LeRobotDataset("YzyLmc/pick_block_red")
print(dataset[0].keys())
```