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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- RoboCasa
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 62 Lightwheel-Robocasa-Tasks, collected using the g1-controller robot in environments provided by LW-BenchHub.
The robot configuration used during data collection is **`G1-Controller`**, using `UnitreeG1ControllerEnvCfg` inherits from `UnitreeG1EnvCfg`.
---
## 1.1 Robot State
The robot state recorded in the environment is stored in: **observation.state**
- **Dimension**: 31
- **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**: 19
The action is ordered as: base (3), left arm (7), right arm (7), left hand (1), right hand (1).
| Component | Dimension | Description |
|:----------------|:---------:|:------------------------------------|
| Base action | 3 | Planar base motion in world frame |
| Arm action | 14 | 7-DOF left arm + 7-DOF right arm (end-effector poses) |
| Hand action | 2 | Continuous gripper control |
```python
@configclass
class G1PinkActionsCfg(PinkActionsCfg):
base_action: mdp.RelativeJointPositionActionCfg = mdp.RelativeJointPositionActionCfg(
asset_name="robot",
joint_names=["base_.*"],
scale={
"base_x_joint": 0.01,
"base_y_joint": 0.01,
"base_yaw_joint": 0.02,
},
use_zero_offset=True,
)
arms_action: G1ActionCfg = G1ActionCfg(asset_name="robot", joint_names=[
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"left_wrist_yaw_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"right_wrist_yaw_joint"
])
```
## 1.2.1 Base Action
The base action is implemented using `RelativeJointPositionActionCfg`, you can refer to the `G1PinkActionsCfg` above.
- **Controlled dimensions**:
- `base_x_joint` (index 0): Forward/backward movement in world frame
- `base_y_joint` (index 1): Left/right movement in world frame
- `base_yaw_joint` (index 2): Yaw rotation
- **Scale**:
- `base_x_joint`: 0.01
- `base_y_joint`: 0.01
- `base_yaw_joint`: 0.02
## 1.2.2 Arm Action
The arm actions control the end-effector poses (position and orientation) in the robot root frame.
The 14-dimensional arm action is passed to `G1ActionCfg`, where it is interpreted as a pose vector: [left_arm_pos (3), left_arm_quat (4), right_arm_pos (3), right_arm_quat (4)]
This pose representation is then converted into a 14-dimensional joint-space command via inverse kinematics.
- **Left arm action** (indices 3-9):
- `left_arm_pos_x` (index 3): X position in robot root frame
- `left_arm_pos_y` (index 4): Y position in robot root frame
- `left_arm_pos_z` (index 5): Z position in robot root frame
- `left_arm_quat_w` (index 6): Quaternion w component
- `left_arm_quat_x` (index 7): Quaternion x component
- `left_arm_quat_y` (index 8): Quaternion y component
- `left_arm_quat_z` (index 9): Quaternion z component
- **Right arm action** (indices 10-16):
- `right_arm_pos_x` (index 10): X position in robot root frame
- `right_arm_pos_y` (index 11): Y position in robot root frame
- `right_arm_pos_z` (index 12): Z position in robot root frame
- `right_arm_quat_w` (index 13): Quaternion w component
- `right_arm_quat_x` (index 14): Quaternion x component
- `right_arm_quat_y` (index 15): Quaternion y component
- `right_arm_quat_z` (index 16): Quaternion z component
- **Coordinate frame**: Robot root frame
## 1.2.3 Gripper Action
Grippers are controlled using continuous values. In the action data, `-1.0` indicates fully open, `+1.0` indicates fully closed.
- **Action values**:
- `-1.0`: fully open gripper
- `+1.0`: fully closed gripper
- Continuous values in between represent partial opening/closing
- **Left gripper** (index 17): Continuous value from -1.0 (open) to 1.0 (closed)
- **Right gripper** (index 18): Continuous value from -1.0 (open) to 1.0 (closed)
- **Source**: VR trigger mapping
- `trigger=0.0` (not pressed) → `-1.0` (open)
- `trigger=1.0` (fully pressed) → `1.0` (closed)
---
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "g1_controller",
"total_episodes": 3100,
"total_frames": 2694024,
"total_tasks": 62,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:3100"
},
"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": [
31
],
"names": [
"base_x_joint",
"base_y_joint",
"base_yaw_joint",
"left_shoulder_pitch_joint",
"right_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"right_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"right_shoulder_yaw_joint",
"left_elbow_joint",
"right_elbow_joint",
"left_wrist_roll_joint",
"right_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_wrist_pitch_joint",
"left_wrist_yaw_joint",
"right_wrist_yaw_joint",
"left_hand_index_0_joint",
"left_hand_middle_0_joint",
"left_hand_thumb_0_joint",
"right_hand_index_0_joint",
"right_hand_middle_0_joint",
"right_hand_thumb_0_joint",
"left_hand_index_1_joint",
"left_hand_middle_1_joint",
"left_hand_thumb_1_joint",
"right_hand_index_1_joint",
"right_hand_middle_1_joint",
"right_hand_thumb_1_joint",
"left_hand_thumb_2_joint",
"right_hand_thumb_2_joint"
],
"fps": 50
},
"action": {
"dtype": "float32",
"shape": [
19
],
"names": [
"base_x",
"base_y",
"base_yaw",
"left_arm_pos_x",
"left_arm_pos_y",
"left_arm_pos_z",
"left_arm_quat_w",
"left_arm_quat_x",
"left_arm_quat_y",
"left_arm_quat_z",
"right_arm_pos_x",
"right_arm_pos_y",
"right_arm_pos_z",
"right_arm_quat_w",
"right_arm_quat_x",
"right_arm_quat_y",
"right_arm_quat_z",
"left_gripper",
"right_gripper"
],
"fps": 50
},
"processed_action": {
"dtype": "float32",
"shape": [
29
],
"names": [
"base_x_joint",
"base_y_joint",
"base_yaw_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"left_wrist_yaw_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"right_wrist_yaw_joint",
"left_hand_thumb_1_joint",
"left_hand_thumb_2_joint",
"left_hand_index_0_joint",
"left_hand_index_1_joint",
"left_hand_middle_0_joint",
"left_hand_middle_1_joint",
"right_hand_thumb_1_joint",
"right_hand_thumb_2_joint",
"right_hand_index_0_joint",
"right_hand_index_1_joint",
"right_hand_middle_0_joint",
"right_hand_middle_1_joint"
],
"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)] |