---
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)]