unitreerobotics/G1_Dex3_Pouring_Dataset

这是一个与机器人操作相关的数据集，主要任务是通过机器人模拟将水从瓶子倒入透明玻璃杯的动作。数据集中使用的机器人是7自由度的双臂G1型机器人，配备了三指灵巧手作为末端执行器，能够进行双臂操作。图像分辨率为640x480，相机安装在手腕和头部，提供单目和双目视角。数据内容包括机器人的当前状态、下一步动作以及当前相机视图图像。数据集共有311个剧集，121587帧，1个任务，1244个视频，分为多个数据块，每个数据块包含1000帧，帧率为30Hz。

This is a robotics-related dataset that involves simulating the action of a robot pouring water from a bottle into a transparent glass cup. The robot used in the dataset is a 7-DOF dual-arm G1 robot equipped with a three-fingered dexterous hand as the end effector, capable of dual-arm operations. The image resolution is 640x480, with cameras mounted on the wrist and head providing monocular and binocular views. The dataset includes the robots current state, next action, and current camera view images. The dataset consists of 311 episodes, 121587 frames, 1 task, and 1244 videos, divided into multiple chunks, each containing 1000 frames, with a frame rate of 30Hz.