unitreerobotics/G1_CameraPackaging_Dataset

该数据集是一个机器人操作数据集，用于将RealSense D-405相机放入安装盒中并固定盖子。操作对象包括RealSense D-405相机及其完整包装。每个操作大约需要20到40秒，录制频率为30Hz。使用的机器人类型为7自由度的双臂G1机器人，末端执行器为三指灵巧手，并且可以进行双臂操作。图像分辨率为640x480，摄像头安装在手腕（单目摄像头）和头部（双目摄像头）。数据内容包括机器人的当前状态、下一个动作和当前摄像头视图图像。数据集包含201个剧集，共256253帧。

This dataset is a robotic operation dataset designed for placing a RealSense D-405 camera into a mounting case and securing the lid. The operational objects include the RealSense D-405 camera and its complete packaging. Each operation takes approximately 20 to 40 seconds with a recording frequency of 30Hz. The robot type used is a 7-DOF dual-arm G1 robot with a three-fingered dexterous hand as the end effector, and dual-arm operation is possible. The image resolution is 640x480, with cameras mounted on the wrist (monocular) and head (binocular). The data content includes the robots current state, the next action, and the current camera view images. The dataset contains 201 episodes with a total of 256253 frames.