unitreerobotics/G1_Pack_PencilBox

该数据集由LeRobot创建，主要用于机器人操作任务，具体任务目标是将文具放入铅笔盒中。每个操作持续时间约为20至40秒，录制频率为30Hz。使用的机器人类型为7自由度双臂G1机器人，末端执行器为夹持器。数据集包含双臂操作数据，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。数据收集并非一次性完成，不同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, primarily for robotics operation tasks, specifically to pack the stationery into the pencil case. Each operation takes approximately 20 to 40 seconds, with a recording frequency of 30 Hz. The robot type used is a 7-DOF dual-arm G1 robot with a gripper as the end effector. The dataset includes dual-arm operation data, with an image resolution of 640x480 and 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, and objects are randomly placed within the robot arms motion range and the field of view of the robots head-mounted camera. Data collection was not completed in a single session, and variations between data entries exist, which should be accounted for during model training.