Z1_DualArm_FoldClothes_Dataset

This dataset was created using [LeRobot](https://github.com/huggingface/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](meta/info.json):
```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:**

```bibtex
[More Information Needed]
```

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集说明
- **主页：** [待补充更多信息]
- **论文：** [待补充更多信息]
- **许可证：** Apache-2.0
- **任务目标：** 操控Z1型双臂机器人系统(Z1 dual-arm robotic system)完成T恤折叠任务。
- **操作对象：** 带有Unitree标识的T恤
- **单次操作时长：** 约100至200秒。
- **录制帧率：** 30Hz。
- **机器人型号：** 搭载并联夹爪(parallel gripper)的Z1型7自由度(7-DOF)机械臂。
- **末端执行器：** 并联夹爪。
- **双臂操作：** 是。
- **图像分辨率：** 640×480。
- **相机布局：** 在每台机械臂末端安装一台单目相机(monocular camera)；另外在双机械臂中点、工作台面上方40cm处并排安装两台单目相机。
- **数据内容：**
• 机器人当前状态
• 机器人待执行的下一动作
• 当前相机采集的视野图像
- **机器人初始姿态：** 每个数据条目中的首个机器人状态。
- **物体摆放设置：** 两台机械臂间距约60cm；将T恤放置在双机械臂的可达工作空间(workspace)内。

## 数据集结构
[meta/info.json](meta/info.json):
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
}
}
}

## 引用
**BibTeX格式：**
bibtex
[待补充更多信息]