---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- avatar-robotics
- bin-picking
- suction-gripper
configs:
- config_name: default
  data_files: data/*/*.parquet
---

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

## Dataset Description

**Robot:** Agibot G1 humanoid robot
**Task:** Bin picking with suction gripper — pick up items from a bin and place in a moving box or bag
**Episodes:** 325
**Total Frames:** 102525
**FPS:** 30
**Format:** LeRobot v3.0

V2 with enriched features: EE pose, velocity, other-arm state, and success labels.

### Cameras
- `observation.images.camera` — Camera camera (1280x800)
- `observation.images.wrist` — Wrist camera (1280x720)

### Features
| Feature | Type | Shape |
|---------|------|-------|
| `observation.state` | float32 | [8] |
| `action` | float32 | [8] |
| `observation.images.camera` | video | [800, 1280, 3] |
| `observation.images.wrist` | video | [720, 1280, 3] |
| `observation.force` | float32 | [6] |
| `observation.state_other` | float32 | [7] |
| `observation.velocity` | float32 | [7] |
| `observation.ee_pose` | float32 | [7] |
| `action.ee_target` | float32 | [7] |
| `next.success` | bool | [1] |

## Usage

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

dataset = LeRobotDataset("avatarrobotics/bin-pick-panel-suction-v2")
sample = dataset[0]
```

## Citation

Created by [Avatar Robotics](https://avatarrobotics.ai).