Update README.md

README.md

@@ -9,17 +9,97 @@ tags:
 configs:
 - config_name: default
   data_files: data/*/*.parquet
+size_categories:
+- 100M<n<1B
 ---
 
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
-## Dataset Description
+# 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**: 25  
+- **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`.
 
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
+- **Controlled joints**:
+  - `joint1_l`, `joint1_r`
+  - `joint2_l`, `joint2_r`
+  - `joint3_l`, `joint3_r`
+  - `joint5_l`, `joint5_r`
+  - `joint6_l`, `joint6_r`
+
+```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:
+
+- **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
 
@@ -198,4 +278,6 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
     "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)]