G1_Pouring_Dataset

该数据集使用[LeRobot](https://github.com/huggingface/lerobot)创建，专注于机器人技术领域，具体任务目标是让机器人拿起水瓶并模拟将水倒入透明玻璃杯中的动作。操作对象包括直径7厘米、高8厘米的透明玻璃杯和350毫升的娃哈哈瓶装水。每次操作时长约20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、下一步动作以及当前摄像头视角的图像。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。物体放置要求将水杯放在机器人左臂三指灵巧手附近的初始位置（手臂垂直），水瓶放在右手可触及的位置。摄像头视角遵循[AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate)第五部分的指南。重要注意事项包括场景调整需与数据集第一帧尽可能匹配，以及数据收集并非一次性完成，需在模型训练中考虑数据条目间的差异。This dataset was developed using [LeRobot](https://github.com/huggingface/lerobot) and focuses on the field of robotics. The core task is to enable the robot to pick up a water bottle and simulate the action of pouring water into a transparent glass cup. The operating objects include a transparent glass cup with a diameter of 7 cm and height of 8 cm, as well as a 350 ml Wahaha bottled water. Each operation lasts approximately 20 seconds, with a recording frequency of 30 Hz. The robot used is a 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 next planned action, and images captured from the current camera perspective. The initial pose of the robot is defined as the first robot state in each dataset entry. The object placement requirements specify that the water cup should be placed at the initial position near the three-finger dexterous hand of the robot's left arm (with the arm in a vertical posture), while the water bottle should be placed at a position accessible to the robot's right arm. The camera view follows the guidelines outlined in Section 5 of the [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate). Important considerations include that scene adjustments should match the first frame of the dataset as closely as possible, and that data collection was not completed in a single session, so the differences between data entries should be accounted for during model training.