---
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).

## Dataset Description

- **License:** Apache-2.0
- **Task Objective:** Pick up the banana from the desk and place it on the plate.
- **Operational Objects:** banana and plate.
- **Recording Frequency:** 30 Hz.
- **Robot Type:** tron2_v4_claw_v0.
- **End Effector:** claw grippers.
- **Dual-Arm Operation:** Yes.
- **Image Observations:** included.
- **Camera Positions:** high camera plus left and right wrist cameras.
- **Total Episodes:** 697.
- **Total Frames:** 144544.
- **Upload Scope:** full banana dataset upload with image observations preserved.

## Task Preview

<video width="100%" controls autoplay muted loop playsinline>
  <source src="https://huggingface.co/datasets/binichallein/test/resolve/main/assets/banana_task_preview.mp4" type="video/mp4">
  Your browser does not support the video tag.
</video>

Autoplay preview of the banana pick-and-place task from the high camera viewpoint.

## Files

- `assets/banana_task_preview.mp4`: autoplay task preview video rendered from the original episode data.
- `data/chunk-000/episode_*.parquet`: all uploaded episodes with image observations and robot state/action fields.
- `meta/tasks.jsonl`: task definitions.
- `meta/episodes.jsonl`: episode index and length metadata.
- `meta/episodes_stats.jsonl`: per-episode statistics.
- `meta/stats.json`: aggregate dataset statistics.
- `meta/info.json`: dataset metadata shown below.

## meta/info.json

```json
{
  "codebase_version": "v2.1",
  "robot_type": "tron2_v4_claw_v0",
  "fps": 30,
  "features": {
    "observation.images.cam_high": {
      "dtype": "image",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ]
    },
    "observation.images.cam_left_wrist": {
      "dtype": "image",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ]
    },
    "observation.images.cam_right_wrist": {
      "dtype": "image",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "names": [
        "abad_L_Joint",
        "hip_L_Joint",
        "yaw_L_Joint",
        "knee_L_Joint",
        "wrist_yaw_L_Joint",
        "wrist_pitch_L_Joint",
        "wrist_roll_L_Joint",
        "left_gripper",
        "abad_R_Joint",
        "hip_R_Joint",
        "yaw_R_Joint",
        "knee_R_Joint",
        "wrist_yaw_R_Joint",
        "wrist_pitch_R_Joint",
        "wrist_roll_R_Joint",
        "right_gripper"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        16
      ],
      "names": [
        "abad_L_Joint",
        "hip_L_Joint",
        "yaw_L_Joint",
        "knee_L_Joint",
        "wrist_yaw_L_Joint",
        "wrist_pitch_L_Joint",
        "wrist_roll_L_Joint",
        "left_gripper",
        "abad_R_Joint",
        "hip_R_Joint",
        "yaw_R_Joint",
        "knee_R_Joint",
        "wrist_yaw_R_Joint",
        "wrist_pitch_R_Joint",
        "wrist_roll_R_Joint",
        "right_gripper"
      ]
    },
    "observation.ee_pose_left": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "x",
        "y",
        "z",
        "qx",
        "qy",
        "qz",
        "qw"
      ]
    },
    "observation.ee_pose_right": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "x",
        "y",
        "z",
        "qx",
        "qy",
        "qz",
        "qw"
      ]
    },
    "observation.ee_pose_cmd_left": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "x",
        "y",
        "z",
        "qx",
        "qy",
        "qz",
        "qw"
      ]
    },
    "observation.ee_pose_cmd_right": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "x",
        "y",
        "z",
        "qx",
        "qy",
        "qz",
        "qw"
      ]
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "timestamp": {
      "dtype": "float32",
      "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": 697,
  "total_frames": 144544,
  "total_tasks": 1,
  "total_chunks": 1,
  "total_videos": 0,
  "chunks_size": 1000,
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
  "splits": {
    "train": "0:697"
  }
}
```