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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LIBERO
- v3.0
configs:
- config_name: default
data_files: data/*/*.parquet
size_categories:
- 100M<n<1B
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
# 1 Dataset Description
This dataset includes 130 Lightwheel-Libero-Tasks, collected using the double-piper robot in environments provided by LW-BenchHub.
The robot configuration used during data collection is **`DoublePiper-Abs`**, using `DoublePiperAbsEnvCfg` inherits from `DoublePiperEnvCfg`.
---
## 1.1 Robot State
The robot state recorded in the environment is stored in: **observation.state**
- **Dimension**: 16
- **Description**: Joint positions of the robot
- **Joint mapping**: The exact joint ordering and semantics can be found in the **Dataset Structure** section below.
---
## 1.2 Robot Action
The robot actions are recorded in: **action**
- **Dimension**: 12
The action is ordered as: left arm (5), right arm (5), left gripper (1), right gripper (1).
| Component | Dimension | Description |
|:----------------|:---------:|:------------------------------------|
| Arm action | 10 | 5-DOF left arm + 5-DOF right arm |
| Gripper action | 2 | Binary gripper control |
## 1.2.1 Arm Action
The arm actions are implemented using `JointPositionActionCfg`.
- **Controlled joints**:
- `joint1_l` (index 0), `joint1_r` (index 5)
- `joint2_l` (index 1), `joint2_r` (index 6)
- `joint3_l` (index 2), `joint3_r` (index 7)
- `joint5_l` (index 3), `joint5_r` (index 8)
- `joint6_l` (index 4), `joint6_r` (index 9)
```python
self.action_config.left_arm_action = mdp.JointPositionActionCfg(
asset_name="robot",
joint_names=["joint1_l", "joint2_l", "joint3_l", "joint5_l", "joint6_l"],
scale=1,
use_default_offset=True
)
self.action_config.right_arm_action = mdp.JointPositionActionCfg(
asset_name="robot",
joint_names=["joint1_r", "joint2_r", "joint3_r", "joint5_r", "joint6_r"],
scale=1,
use_default_offset=True
)
```
## 1.2.2 Gripper Action
Grippers are controlled using `BinaryJointPositionActionCfg`. In the action data, `-1` indicates closing the gripper, `+1` indicates opening the gripper.
The action commands for opening and closing the left and right grippers are defined as follows:
- **Left gripper** (index 10)
- **Right gripper** (index 11)
- **Action cmd**:
- `-1`: close gripper
- `+1`: open gripper
- Each gripper is actuated by two joints together, and the open/close commands are mapped explicitly to joint positions.
```python
# left gripper
self.action_config.left_gripper_action = mdp.BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["finger_joint.*_l"],
open_command_expr={"finger_joint_left_l": 0.035, "finger_joint_right_l": -0.035},
close_command_expr={"finger_joint.*_l": 0.0},
)
```
```python
# right gripper
self.action_config.right_gripper_action = mdp.BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["finger_joint.*_r"],
open_command_expr={"finger_joint_left_r": 0.035, "finger_joint_right_r": -0.035},
close_command_expr={"finger_joint.*_r": 0.0},
)
```
---
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "double_piper",
"total_episodes": 6500,
"total_frames": 6010166,
"total_tasks": 130,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:6500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.images.left_hand": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.width": 640,
"video.height": 480,
"video.fps": 50.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.channels": 3,
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.first_person": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.width": 640,
"video.height": 480,
"video.fps": 50.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.channels": 3,
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_hand": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.width": 640,
"video.height": 480,
"video.fps": 50.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.channels": 3,
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"joint1_r",
"joint1_l",
"joint2_r",
"joint2_l",
"joint3_r",
"joint3_l",
"joint4_r",
"joint4_l",
"joint5_r",
"joint5_l",
"joint6_r",
"joint6_l",
"finger_joint_left_r",
"finger_joint_right_r",
"finger_joint_left_l",
"finger_joint_right_l"
],
"fps": 50
},
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"joint1_l",
"joint2_l",
"joint3_l",
"joint5_l",
"joint6_l",
"joint1_r",
"joint2_r",
"joint3_r",
"joint5_r",
"joint6_r",
"left_gripper",
"right_gripper"
],
"fps": 50
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 50
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
```
## Homepage: [[Lightwheel-BenchHub](https://docs.lightwheel.net/lw_benchhub/)]
## License: [[Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0)] |