avatarrobotics/bin-pick-panel-suction-v2

---
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).

许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
- lerobot
- Avatar Robotics
- 箱拣选
- 吸盘抓手
配置项：
- 配置名称：默认
数据文件：data/*/*.parquet

本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)框架构建。

## 数据集说明
**机器人平台：** Agibot G1人形机器人（Agibot G1 humanoid robot）
**任务类型：** 采用吸盘抓手的箱拣选作业——从储物箱中抓取物品并放置于移动箱具或收纳袋中
**轨迹段数量：** 325段
**总帧数：** 102525
**帧率：** 30
**数据格式：** LeRobot v3.0

本V2版本新增丰富特征：末端执行器位姿、运动速度、对侧机械臂状态以及成功标记标签。

### 相机配置
- `observation.images.camera`：场景相机（分辨率1280×800）
- `observation.images.wrist`：腕部相机（分辨率1280×720）

### 特征列表
| 特征名称 | 数据类型 | 张量形状 |
|---------|------|-------|
| `observation.state` | 单精度浮点型（float32） | [8] |
| `action` | 单精度浮点型 | [8] |
| `observation.images.camera` | 视频流 | [800, 1280, 3] |
| `observation.images.wrist` | 视频流 | [720, 1280, 3] |
| `observation.force` | 单精度浮点型 | [6] |
| `observation.state_other` | 单精度浮点型 | [7] |
| `observation.velocity` | 单精度浮点型 | [7] |
| `observation.ee_pose` | 单精度浮点型 | [7] |
| `action.ee_target` | 单精度浮点型 | [7] |
| `next.success` | 布尔型（bool） | [1] |

## 使用方法
python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

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

## 引用声明
本数据集由[Avatar Robotics（Avatar Robotics）](https://avatarrobotics.ai)研发制作。