unitreerobotics/G1_MountCamera_Dataset

本数据集使用LeRobot创建，用于将OAK-D-LITE相机放入安装外壳并固定盖子的任务。数据集包含7自由度双臂G1机器人的操作数据，使用三指灵巧手作为末端执行器。操作过程中，相机的位置为手腕安装（单目摄像头）和头部安装（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、当前摄像头视图图像等。数据集共有351个剧集，389708帧，1个任务，1404个视频文件。

This dataset was created using LeRobot for the task of placing the OAK-D-LITE camera into the mounting case and securing the lid. It includes operation data of a 7-DOF dual-arm G1 robot with three-fingered dexterous hands as the end effector. The camera positions during operation are wrist-mounted (monocular camera) and head-mounted (binocular cameras). The data content includes the robots current state, the robots next action, and the current camera view images. The dataset consists of 351 episodes, 389708 frames, 1 task, and 1404 video files.