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 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
{
"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:
[More Information Needed]