Z1_Dual_Dex1_PourCoffee_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 coffee machine for brewing: First, insert a coffee capsule into the machine and initiate the brewing process; then place the filled transparent glass cup onto the serving tray.
- **Operational Objects:** Transparent glass cup (7cm diameter × 8cm height) + Coffee machine (Purchase link: [【淘宝】假一赔四 https://e.tb.cn/h.60Pyz2E1LCTqd5x?tk=zmX0eJyjayl MF168 「KONMO家用办公室用胶囊咖啡机 小型迷你浓缩意式美式全自动咖啡机」点击链接直接打开 或者 淘宝搜索直接打开]) + Coffee capsules (Purchase link: [【淘宝】假一赔四 https://e.tb.cn/h.60l0WlnO41tjL0F?tk=ytAGeJylaGJ MF278 「隅田川精萃浓缩胶囊大师咖啡胶囊意式美式拿铁espresso10盒100粒」点击链接直接打开 或者 淘宝搜索直接打开]) + Capsule holder (Purchase link: [【淘宝】退货运费险 https://e.tb.cn/h.60PATchT7p44YNX?tk=iJBgeJyQu57 CA381 「可装40粒黑色现货NESPRESSO胶囊不锈钢奢华咖啡架收纳架360度旋转」点击链接直接打开 或者 淘宝搜索直接打开]) + Serving tray (Purchase link: [【淘宝】假一赔四 https://e.tb.cn/h.60VmJKagLVyLW7M?tk=QH70eJykVCR CA381 「新款小麦秸秆盘子塑料托盘家用客厅长方形加厚水果盘茶盘酒店餐盘」点击链接直接打开 或者 淘宝搜索直接打开])
- **Operation Duration:** Each operation takes approximately 40 to 60 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 coffee machine centrally between the two arms, 35cm vertically from the robotic arm base. Position the water cup and serving tray on the left side of the coffee machine, and arrange the coffee capsules and capsule holder on the right side.

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "Unitree_Z1_Dual",
"total_episodes": 331,
"total_frames": 443144,
"total_tasks": 1,
"total_videos": 993,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:331"
},
"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。

## 数据集详情
- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **许可证：** apache-2.0
- **任务目标：** 完成胶囊咖啡机冲泡操作：首先将咖啡胶囊放入咖啡机并启动冲泡流程，随后将盛有咖啡的透明玻璃杯放置于承接托盘上。
- **操作对象：** 透明玻璃杯（直径7cm × 高度8cm）+ 胶囊咖啡机（购买链接：[【淘宝】假一赔四 https://e.tb.cn/h.60Pyz2E1LCTqd5x?tk=zmX0eJyjayl MF168 「KONMO家用办公室用胶囊咖啡机 小型迷你浓缩意式美式全自动咖啡机」点击链接直接打开 或者 淘宝搜索直接打开]）+ 咖啡胶囊（购买链接：[【淘宝】假一赔四 https://e.tb.cn/h.60l0WlnO41tjL0F?tk=ytAGeJylaGJ MF278 「隅田川精萃浓缩胶囊大师咖啡胶囊意式美式拿铁espresso10盒100粒」点击链接直接打开 或者 淘宝搜索直接打开]）+ 胶囊收纳架（购买链接：[【淘宝】退货运费险 https://e.tb.cn/h.60PATchT7p44YNX?tk=iJBgeJyQu57 CA381 「可装40粒黑色现货NESPRESSO胶囊不锈钢奢华咖啡架收纳架360度旋转」点击链接直接打开 或者 淘宝搜索直接打开]）+ 承接托盘（购买链接：[【淘宝】假一赔四 https://e.tb.cn/h.60VmJKagLVyLW7M?tk=QH70eJykVCR CA381 「新款小麦秸秆盘子塑料托盘家用客厅长方形加厚水果盘茶盘酒店餐盘」点击链接直接打开 或者 淘宝搜索直接打开]）
- **单轮操作时长：** 单次操作耗时约40至60秒。
- **录制帧率：** 30 Hz。
- **机器人型号：** 搭载并联夹爪的Z1型7自由度机械臂。
- **末端执行器：** 并联夹爪。
- **双臂协同操作：** 支持。
- **图像分辨率：** 640×480。
- **相机部署方案：** 在每台机械臂末端安装单目相机；另在两台机械臂中点、工作台面上方40cm处并排部署两台单目相机。
- **数据内容：**
• 机器人当前状态
• 机器人下一步动作
• 当前相机视角图像
- **机器人初始位姿：** 每个数据集条目中的首个机器人状态。
- **物体摆放布局：** 两台机械臂间距约60cm。将咖啡机置于两臂中央，距机械臂底座垂直高度35cm。将玻璃杯与承接托盘放置于咖啡机左侧，咖啡胶囊与胶囊收纳架放置于咖啡机右侧。

## 数据集结构
`meta/info.json`:
json
{
"codebase_version": "v2.0",
"robot_type": "Unitree_Z1_Dual",
"total_episodes": 331,
"total_frames": 443144,
"total_tasks": 1,
"total_videos": 993,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:331"
},
"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
}
}
}

## 参考文献
**BibTeX格式：**
bibtex
[需补充更多信息]