---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- avatar-robotics
- orange-hook
- 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:** Hook an orange from a bin (right arm, suction gripper)
**Episodes:** 751
**Total Frames:** 211394
**FPS:** 30
**Format:** LeRobot v3.0

### Cameras
- `observation.images.camera` — Camera camera (640x800)
- `observation.images.wrist` — Wrist camera (1280x720)

### Features
| Feature | Type | Shape |
|---------|------|-------|
| `observation.state` | float32 | [8] |
| `action` | float32 | [8] |
| `observation.images.camera` | video | [800, 640, 3] |
| `observation.images.wrist` | video | [720, 1280, 3] |
| `observation.force` | float32 | [6] |

## Usage

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

dataset = LeRobotDataset("avatarrobotics/orange-hook-mar11-right")
sample = dataset[0]
```

## Citation

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