G1_BlockStacking_Dataset

该数据集是使用LeRobot创建的，专注于一个机器人任务：将三个立方体块按照红、黄、蓝的顺序从下到上堆叠在桌面上的黑色胶带上。操作对象是三个边长为5厘米的立方体块。每次操作大约需要20到40秒，记录频率为30赫兹。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摄像头视图图像。摄像头位置包括腕部安装的单目摄像头和头部安装的双目摄像头。数据集结构包括元数据信息，如机器人类型、总集数、帧数、任务数、视频数等，以及特征数据如观测状态、动作和不同摄像头视图的图像。

This dataset was developed using LeRobot, focusing on a robotic stacking task: stacking three cubic blocks in the bottom-to-top order of red, yellow, and blue onto a black adhesive tape placed on a desktop. The manipulation targets are three cubic blocks each with a side length of 5 cm. Each manipulation operation lasts approximately 20 to 40 seconds, with a recording frame rate of 30 Hz. The robotic system employed is the 7-degree-of-freedom dual-arm G1 robot, equipped with a three-fingered dexterous hand as the end effector. The dataset covers the robot's current state, the upcoming action, and images captured by the current camera setups. The camera setups include a monocular wrist-mounted camera and a binocular head-mounted camera. The dataset structure includes metadata such as robot type, total number of episodes, total frame count, number of tasks, number of video clips, etc., alongside feature data including observation states, actions, and images from distinct camera perspectives.