---
license: cc-by-4.0
task_categories:
- robotics
tags:
- robotics
- manipulation
- rh20t
- droid
- agibot
pretty_name: Gripper Data Share (RH20T + DROID complete episodes + AgiBot usable lists)
---

# Gripper Data Share

Curated robot-manipulation data for sharing. Two parts:

1. **Complete episodes** of **RH20T** and **DROID**, packed as `.tar` shards — every
   episode included here has **all camera-view videos + a text caption + the action
   (robot state) data**. Any episode missing one of these three was dropped.
2. **Usable-episode lists** for **AgiBotWorld-Beta** and **AgiBotWorld2026** (these two
   datasets are *not* shipped here — only the lists of episodes whose FK skeleton
   projected correctly, so you can filter the original datasets).

## Contents

| File(s) | What |
|---|---|
| `RH20T_000.tar` … `RH20T_005.tar` | RH20T complete episodes (6 shards) |
| `droid_000.tar` … `droid_033.tar` | DROID complete episodes (34 shards) |
| `meta_000.tar` | Shared assets: RH20T `calib/` + `urdf/` + `task_description.json`, DROID `aggregated-annotations` + `manifest.json` |
| `AgiBotWorld-Beta_usable_episodes.txt` | 146,771 usable AgiBotWorld-Beta episodes (`task/episode`) |
| `AgiBotWorld2026_usable_episodes.txt` | 19,329 usable AgiBotWorld2026 episodes (`Domain/Scene/task/range/ep`) |

Each shard is ≤ 25 GB; total tar data ≈ 0.94 TiB.

## Download & extract

```bash
huggingface-cli download tqliu/gripper_data_share --repo-type dataset --local-dir gripper_data_share
cd gripper_data_share
for f in *.tar; do tar -xf "$f"; done      # reconstructs RH20T/ and droid/
```

Extraction yields:
```
RH20T/RH20T_cfg{5,6,7}/<episode>/...        # + shared calib/, urdf/, task_description.json
droid/<lab>/<success|failure>/<date>/<episode>/...   # + aggregated-annotations, manifest.json
```

## Episode contents

**RH20T** — `RH20T/RH20T_cfg{5,6,7}/task_..._cfg_N/`
- `cam_<serial>/color.mp4` + `cam_<serial>/timestamps.npy` — all camera views (640×360)
- `transformed/` — action & state: `joint.npy`, `tcp.npy`, `tcp_base.npy`, `gripper.npy`, `force_torque*.npy`, `high_freq_data.npy` (+ `tactile.npy` where present)
- `metadata.json` — calibration id, camera serials, timestamps
- `caption.json` — `{task_id, user_id, scene_id, cfg, task_description_english, task_description_chinese}`.
  RH20T captions are **task-level** (all episodes of a task share the sentence), joined from
  `task_description.json` by the task id in the folder name (100% coverage).
- Camera intrinsics/extrinsics are in the shared `RH20T/RH20T_cfg{N}/calib/<calib_id>/`
  (look up `metadata.json["calib"]`).

**DROID** — `droid/<lab>/<success|failure>/<date>/<episode>/`
- `recordings/MP4/<serial>.mp4` — 3 camera views (2 exterior + 1 wrist, 1280×720)
- `trajectory.h5` — action & state (joint positions, cartesian, gripper, timestamps)
- `metadata_<uuid>.json`
- `caption.json` — `{uuid, language_instructions}`. DROID captions are **per-episode**
  human language instructions (from the DROID aggregated annotations). Only episodes with a
  non-empty instruction are included.

Caption ↔ video correspond by construction (same episode folder; verified by task_id / uuid match).

## Selection criteria (episode kept only if complete)

- **RH20T**: has caption + `transformed/joint.npy` + a color.mp4 for every camera view
  (the force/tactile sensor `f0461559` is not counted as a camera). 2,862 episodes kept.
- **DROID**: has `trajectory.h5` + ≥3 camera MP4s + a non-empty language instruction.
  39,986 kept (dropped mostly for missing caption — ~54% of DROID episodes carry a language instruction).

## AgiBot usable lists

`AgiBotWorld-Beta` and `AgiBotWorld2026` are **not** included here. The two `*_usable_episodes.txt`
files list the episodes whose forward-kinematics skeleton projected correctly (complete render
output); use them to filter the original datasets. Beta lines are `task/episode`; 2026 lines are
`Domain/Scene/task/range/ep`.

## Counts

| Dataset | Episodes (complete / usable) |
|---|---|
| RH20T | 2,862 |
| DROID | 39,986 |
| AgiBotWorld-Beta (list only) | 146,771 |
| AgiBotWorld2026 (list only) | 19,329 |