unitreerobotics/G1_ToastedBread_Dataset

这是一个关于机器人操作的数据集，使用LeRobot工具创建。数据集的任务目标分为两部分：第一部分是将面包从托盘放入烤面包机中，第二部分是在面包烤好后，将面包递给人类。数据集包含的操作对象有面包和烤面包机。每个操作大约需要20到40秒。数据以30Hz的频率记录。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，支持双臂操作。图像分辨率为640x480，摄像头位置包括手腕安装的单目摄像头和头部安装的双目摄像头。数据内容包括机器人的当前状态，机器人的下一个动作，当前摄像头视角的图像等。数据集的元信息文件提供了详细的格式和内容描述。

This is a robotics dataset created using LeRobot. The task objectives of the dataset are divided into two parts: the first part is to place bread from a tray into a toaster, and the second part is to hand the toasted bread to a human. The operational objects in the dataset include bread and a toaster. Each operation takes approximately 20 to 40 seconds. The data is recorded at a frequency of 30Hz. The robot type is a 7-DOF dual-arm G1 robot with a three-fingered dexterous hand as the end effector, supporting dual-arm operations. The image resolution is 640x480, and the camera positions include a monocular camera mounted on the wrist and binocular cameras mounted on the head. The dataset contains the robots current state, the robots next action, the current camera view images, and more. The metadata file of the dataset provides a detailed description of the format and content.