---
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)]