G1_CameraPackaging_Dataset

该数据集是通过LeRobot创建的，主要用于机器人技术领域。任务目标是将RealSense D-405相机安装到安装盒中并固定盖子。操作对象包括RealSense D-405相机及其完整包装。每次操作大约需要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，末端执行器为三指灵巧手。数据集内容包括机器人的当前状态、下一个动作以及当前相机视图图像。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。物体放置要求将相机盒放置在机器人双臂初始状态的中点，距离桌子内边缘30厘米。相机放置在盒子的右侧，盖子放置在左侧。相机视角遵循AVP Teleoperation文档第5部分的指导。重要注意事项包括场景调整和数据收集的变异性。This dataset was developed using LeRobot and is primarily intended for robotics research. The task objective is to mount the RealSense D-405 camera into its dedicated mounting enclosure and secure the corresponding lid. The target objects of the operation include the RealSense D-405 camera and its complete packaging kit. Each operation lasts approximately 20 to 40 seconds, with a data recording frequency of 30 Hz. The robot employed is the 7-degree-of-freedom dual-arm G1 robot, equipped with a three-finger dexterous hand as its end effector. The dataset contains the robot's current state, the upcoming action to be performed, and the real-time camera view image. The initial pose of the robot serves as the first robot state entry in each dataset sample. The object placement specification requires positioning the camera mounting box at the midpoint between the initial poses of the robot's dual arms, 30 centimeters away from the inner edge of the worktable. The camera is placed on the right side of the enclosure, while the lid is placed on the left side. The camera view follows the guidelines outlined in Section 5 of the AVP Teleoperation documentation. Key considerations include scene adjustments and the variability inherent in data collection.