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