unitreerobotics/G1_Organize_Tools

该数据集是使用LeRobot创建的机器人数据集，主要任务目标是从右到左将工具挂在架子上。每个操作大约需要20到40秒，记录频率为30 Hz。使用的机器人是7自由度双臂G1机器人，末端执行器为夹持器，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、下一个动作以及当前摄像头视图图像。机器人的初始姿势是每个数据集条目中的第一个机器人状态。物体放置位置在机器人手臂运动范围内和头部摄像头视野内随机放置。摄像头视图遵循AVP远程操作文档第5部分的指南。数据收集不是一次性完成的，数据条目之间存在差异，需在模型训练时考虑这些差异。

This dataset was created using LeRobot, with the primary task objective of hanging tools on the shelf from right to left. Each operation takes approximately 20 to 40 seconds, with a recording frequency of 30 Hz. The robot used is a 7-DOF dual-arm G1 robot with a gripper as the end effector, supporting dual-arm operation. The image resolution is 640x480, with camera positions including a wrist-mounted monocular camera and head-mounted binocular cameras. The data content includes the robots current state, next action, and current camera view images. The robots initial posture is the first robot state in each dataset entry. Objects are randomly placed within the robot arms motion range and the field of view of the head-mounted camera. The camera view follows the guidelines in Part 5 of the AVP Teleoperation Documentation. Data collection was not completed in a single session, and variations between data entries exist, which should be accounted for during model training.