---
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=mr-robot-01/g2_pick_bottle_GUI_TEST">
<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



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "fps": 10,
    "features": {
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            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_l_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_l_joint2.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_l_joint2.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_l_joint3.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_l_joint3.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_l_joint4.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_l_joint4.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_l_joint5.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_l_joint5.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_l_joint6.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_l_joint6.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_l_joint7.pos": {
            "dtype": "float32",
            "shape": [
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            ]
        },
        "action.arm_l_joint7.pos": {
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            "shape": [
                1
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        },
        "observation.state.arm_r_joint1.pos": {
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                1
            ]
        },
        "action.arm_r_joint1.pos": {
            "dtype": "float32",
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        },
        "observation.state.arm_r_joint2.pos": {
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        },
        "action.arm_r_joint2.pos": {
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                1
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        },
        "observation.state.arm_r_joint3.pos": {
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        },
        "action.arm_r_joint3.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_r_joint4.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_r_joint4.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_r_joint5.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_r_joint5.pos": {
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            "shape": [
                1
            ]
        },
        "observation.state.arm_r_joint6.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_r_joint6.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.arm_r_joint7.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.arm_r_joint7.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.gripper_l_inner_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.gripper_l_inner_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.gripper_r_inner_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.gripper_r_inner_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.head_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.head_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.head_joint2.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.head_joint2.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.head_joint3.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.head_joint3.pos": {
            "dtype": "float32",
            "shape": [
                1
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        },
        "observation.state.body_joint1.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.body_joint1.pos": {
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        "observation.state.body_joint2.pos": {
            "dtype": "float32",
            "shape": [
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            ]
        },
        "action.body_joint2.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.state.body_joint3.pos": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "action.body_joint3.pos": {
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            "shape": [
                1
            ]
        },
        "observation.state.body_joint4.pos": {
            "dtype": "float32",
            "shape": [
                1
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        "action.body_joint4.pos": {
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            "shape": [
                1
            ]
        },
        "action.body_joint5.pos": {
            "dtype": "float32",
            "shape": [
                1
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        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
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                "video.extra_options": {},
                "is_depth_map": false
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        },
        "observation.images.left_wrist": {
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                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
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                "video.width": 1280,
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                "has_audio": false,
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                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.right_wrist": {
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            "shape": [
                1056,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 1056,
                "video.width": 1280,
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                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
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                "video.crf": 30,
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                "video.fast_decode": 0,
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        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "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
        }
    },
    "total_episodes": 3,
    "total_frames": 329,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "agibot_g2",
    "splits": {
        "train": "0:3"
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```