README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

Dataset Description

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0
• Task Objective: Operate the Z1 dual-arm robotic system to execute T-shirt folding tasks.
• Operational Objects: T-shirt with the Unitree logo
• Operation Duration: Each operation takes approximately 100 to 200 seconds.
• Recording Frequency: 30 Hz.
• Robot Type: Z1 7-DOF robotic arm with parallel gripper.
• End Effector: Parallel gripper.
• Dual-Arm Operation: Yes.
• Image Resolution: 640x480.
• Camera Positions: Mount a monocular camera at the end of each robotic arm; position two additional monocular cameras side-by-side at the midpoint between the two arms, 40cm above the work surface.
• Data Content:
  • Robot's current state.
  • Robot's next action.
  • Current camera view images.
• Robot Initial Posture: The first robot state in each dataset entry.
• Object Placement: Position the two robotic arms spaced approximately 60cm apart. Place the T-shirt within the reachable workspace of the dual robotic arms.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "Unitree_Z1_Dual",
    "total_episodes": 83,
    "total_frames": 293197,
    "total_tasks": 1,
    "total_videos": 249,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:83"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "kLeftWaist",
                    "kLeftShoulder",
                    "kLeftElbow",
                    "kLeftForearmRoll",
                    "kLeftWristAngle",
                    "kLeftWristRotate",
                    "kLeftGripper",
                    "kRightWaist",
                    "kRightShoulder",
                    "kRightElbow",
                    "kRightForearmRoll",
                    "kRightWristAngle",
                    "kRightWristRotate",
                    "kRightGripper"
                ]
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "kLeftWaist",
                    "kLeftShoulder",
                    "kLeftElbow",
                    "kLeftForearmRoll",
                    "kLeftWristAngle",
                    "kLeftWristRotate",
                    "kLeftGripper",
                    "kRightWaist",
                    "kRightShoulder",
                    "kRightElbow",
                    "kRightForearmRoll",
                    "kRightWristAngle",
                    "kRightWristRotate",
                    "kRightGripper"
                ]
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_left_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]