unitreerobotics/G1_Stack_Block

该数据集使用[LeRobot](https://github.com/huggingface/lerobot)创建，专注于机器人技术，特别是涉及7自由度双臂G1机器人执行积木堆叠任务。数据集的任务目标是将红色、绿色和黄色积木堆叠起来。每个操作大约需要20到40秒，记录频率为30赫兹。机器人类型为7自由度双臂G1机器人，末端执行器为夹持器。数据集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。机器人初始姿势为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和头部摄像头视野内随机放置。摄像头视图遵循[AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate)中**第5部分**的指南。重要注意事项包括：1. 由于无法精确描述空间位置，安装硬件后需调整场景以尽可能匹配数据集的第一帧；2. 数据收集并非在单次会话中完成，数据条目之间存在差异，需在模型训练中考虑这些差异。数据集结构包括机器人状态、动作、摄像头视图等多种数据类型，具体格式详见meta/info.json文件。

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) and focuses on robotics, specifically involving a 7-DOF dual-arm G1 robot performing block-stacking tasks. The task objective is to stack the red, green, and yellow blocks. Each operation takes approximately 20 to 40 seconds, with a recording frequency of 30 Hz. The robot type is a 7-DOF dual-arm G1 robot with a gripper as the end effector. The dataset 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 placed randomly within the robot arms motion range and the field of view of the robots head-mounted camera. The camera view follows the guidelines in **Part 5** of the [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate). Important notes include: 1. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware; 2. Data collection is not completed in a single session, and variations between data entries exist, which should be accounted for during model training. The dataset structure includes various data types such as robot states, actions, and camera views, with specific formats detailed in the meta/info.json file.