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This dataset contains object storage data collected using the Unitree G1 humanoid robot equipped with a three-finger dexterous hand. Three cameras were used: a stereoscopic camera on the head and RealSense D405 cameras on the left and right wrists. The cameras are securely mounted on the head and wrists with a special structure; for the 3D print models and mounting instructions, please refer to the [official documentation](https://github.com/unitreerobotics/avp_teleoperate/tree/g1). Each image has a resolution of 640x480.
Each arm and dexterous hand has a state and action dimension of 7.
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