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

# task2_fixpos_200

Teleoperated Isaac Sim demonstrations for the EBiM benchmark, Task 2,
recorded in the LeRobot v3 dataset format.

Teleoperated using keyboard. 

Robot positions are overriden:
- robot_x: 2.1
- robot_y: 3.05
- robot_z: 0.0
- robot_yaw: -90.0

## Tasks

- Pick up the thermal pad and place it on the target RAM board.

## At a glance

| | |
|---|---|
| Codebase version | `v3.0` |
| Robot type | `fr3duo_mobile_task2` |
| Episodes | 200 |
| Frames | 174719 |
| FPS | 30 |
| Action dim | 20 |
| State dim | 37 |

## Cameras

- `observation.images.head`
- `observation.images.wrist_left`
- `observation.images.wrist_right`
- `observation.images.eval_camera`

## Extras

`task2_extras/` holds Task 2 specific per-episode metadata that is not
part of the LeRobot schema (`episodes_task2.jsonl` plus one `.npz` per
episode). Standard LeRobot loaders ignore it.

## Usage

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

dataset = LeRobotDataset("<repo-id>")
```