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