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

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]
```