unitreerobotics/G1_Pack_PingPong

该数据集记录了7自由度双臂G1机器人执行将乒乓球拍放入盒中并拉上拉链任务的过程。每个操作耗时约20至40秒，记录频率为30 Hz。数据集包含机器人的当前状态、下一步动作、当前摄像头视图图像等信息。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。摄像头视图包括腕部安装的单目摄像头和头部安装的双目摄像头。数据集还包含机器人的各种状态和动作的详细特征描述。

This dataset records the process of a 7-DOF dual-arm G1 robot performing the task of storing a ping-pong paddle in its case and zipping it. Each operation takes approximately 20 to 40 seconds, with a recording frequency of 30 Hz. The dataset includes the robots current state, next action, current camera view images, and more. 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 robots head-mounted camera. Camera views include a wrist-mounted monocular camera and head-mounted binocular cameras. The dataset also provides detailed feature descriptions of various robot states and actions.