Add files using upload-large-folder tool

README.md

@@ -1,3 +1,271 @@
 ---
 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_duplo_stack_simple">
+<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
+
+
+
+- **Robot:** TRLC DK1 bimanual (`bi_dk1_follower`) — 2× 6-DOF arms with grippers
+- **Task:** pick up the orange 2x2 brick with the right arm and stack it on top of the green 2x2 brick in the center
+- **Episodes:** 102
+- **Total frames:** 131,625 (36.6 min @ 60 fps)
+- **Avg episode length:** 21.5s
+- **License:** apache-2.0
+
+### Cameras
+
+| Camera | Resolution | Codec | FPS |
+|---|---|---|---|
+| `observation.images.head` | 640x360 | hevc | 60 |
+| `observation.images.left_wrist` | 640x360 | hevc | 60 |
+| `observation.images.right_wrist` | 640x360 | hevc | 60 |
+
+### 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
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("andreaskoepf/dk1_duplo_stack_simple")
+
+# 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": 102,
+    "total_frames": 131625,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 12,
+    "video_files_size_in_mb": 4008,
+    "fps": 60,
+    "splits": {
+        "train": "0:102"
+    },
+    "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": "hevc",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 60,
+                "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": "hevc",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 60,
+                "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": "hevc",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 60,
+                "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_duplo_stack_simple,
+  title = {pick up the orange 2x2 brick with the right arm and stack it on top of the green 2x2 brick in the center},
+  author = {The Robot Learning Company},
+  year = {2026},
+  publisher = {HuggingFace},
+  url = {https://huggingface.co/datasets/andreaskoepf/dk1_duplo_stack_simple}
+}
+```

meta/episodes/chunk-000/file-000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f82c3f441fc3b1bd8ebaf55aeff582552a5631cd19960df55a7697ee45b634
+size 442713

meta/info.json

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+{
+  "codebase_version": "v3.0",
+  "robot_type": "bi_dk1_follower",
+  "total_episodes": 102,
+  "total_frames": 131625,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 12,
+  "video_files_size_in_mb": 4008,
+  "fps": 60,
+  "splits": {
+    "train": "0:102"
+  },
+  "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
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+    "observation.images.head": {
+      "dtype": "video",
+      "shape": [
+        360,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
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+      "info": {
+        "video.height": 360,
+        "video.width": 640,
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+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 60,
+        "video.channels": 3,
+        "has_audio": false
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+    "observation.images.left_wrist": {
+      "dtype": "video",
+      "shape": [
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+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
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+      "info": {
+        "video.height": 360,
+        "video.width": 640,
+        "video.codec": "hevc",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 60,
+        "video.channels": 3,
+        "has_audio": false
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+    },
+    "observation.images.right_wrist": {
+      "dtype": "video",
+      "shape": [
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+        640,
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+      "names": [
+        "height",
+        "width",
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+        "video.height": 360,
+        "video.width": 640,
+        "video.codec": "hevc",
+        "video.pix_fmt": "yuv420p",
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+}

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