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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 32 Lightwheel-Robocasa-Tasks, collected using the g1-wbc robot in environments provided by LW-BenchHub.
The robot configuration used during data collection is **`G1-Controller-DecoupledWBC`**, using `UnitreeG1ControllerDecoupledWBCEnvCfg` inherits from `UnitreeG1ControllerEnvCfg`.
---
## 1.1 Robot State
The robot state recorded in the environment is stored in: **observation.state**
- **Dimension**: 43
- **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**: 23
The action is ordered as: left hand (1), right hand (1), left arm (7), right arm (7), base (7).
| Component | Dimension | Description |
|:----------------|:---------:|:------------------------------------|
| Hand action | 2 | Continuous gripper control |
| Arm action | 14 | Left arm + right arm (end-effector poses) |
| Base action | 7 | Base motion and torso orientation commands |
The g1-wbc robot uses `G1DecoupledWBCActionsCfg` to implement whole-body control for all components except the grippers.
```python
self.action_config = G1DecoupledWBCActionsCfg()
self.action_config.left_hand_action = self.gripper_cfg.left_hand_action_cfg()[self.hand_action_mode] # here self.hand_action_mode = "handle"
self.action_config.right_hand_action = self.gripper_cfg.right_hand_action_cfg()[self.hand_action_mode]
```
## 1.2.1 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 0): Continuous value from -1.0 (open) to 1.0 (closed)
- **Right gripper** (index 1): 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)
## 1.2.2 Arm Action
The arm actions control the end-effector poses (position + orientation) in the robot frame.
The left and right arm actions are processed in `G1DecoupledWBCAction.process_actions()` and converted into 14-dimensional arm joint positions via inverse kinematics.
- **Left arm action** (indices 2-8):
- `left_arm_pos_x` (index 2): X position in robot frame
- `left_arm_pos_y` (index 3): Y position in robot frame
- `left_arm_pos_z` (index 4): Z position in robot frame
- `left_arm_quat_w` (index 5): Quaternion w component
- `left_arm_quat_x` (index 6): Quaternion x component
- `left_arm_quat_y` (index 7): Quaternion y component
- `left_arm_quat_z` (index 8): Quaternion z component
- **Right arm action** (indices 9-15):
- `right_arm_pos_x` (index 9): X position in robot frame
- `right_arm_pos_y` (index 10): Y position in robo frame
- `right_arm_pos_z` (index 11): Z position in robot frame
- `right_arm_quat_w` (index 12): Quaternion w component
- `right_arm_quat_x` (index 13): Quaternion x component
- `right_arm_quat_y` (index 14): Quaternion y component
- `right_arm_quat_z` (index 15): Quaternion z component
- **Coordinate frame**: Robot frame
## 1.2.3 Base Action
The base action controls base motion and torso orientation using task space commands in the local robot frame.
The base action commands are processed by `G1DecoupledWBCAction.process_actions()` and converted into 15-dimensional lower-body joint positions (15).
- **Controlled dimensions** (indices 16-22):
- `base_lin_x_local` (index 16): Forward/backward command in local frame (range: -1.0 to 1.0)
- `base_lin_y_local` (index 17): Left/right command in local frame (range: -1.0 to 1.0)
- `base_ang_z_local` (index 18): Rotation (yaw) command in local frame (range: -1.0 to 1.0)
- `base_height_cmd` (index 19): Base height command (typically 0.2 to 0.75, default 0.75 for standing)
- `torso_orientation_roll_cmd` (index 20): Torso roll orientation command (range: -0.5 to 0.5 (clamped), typically 0 in data)
- `torso_orientation_pitch_cmd` (index 21): Torso pitch orientation command (range: -1.5 to 1.5 (clamped), typically 0 in data)
- `torso_orientation_yaw_cmd` (index 22): Torso yaw orientation command (range: -2.0 to 2.0 (clamped), typically 0 in data)
- **Coordinate frame**: Robot frame
---
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "g1_wbc",
"total_episodes": 1600,
"total_frames": 1474930,
"total_tasks": 32,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:1600"
},
"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": [
43
],
"names": [
"left_hip_pitch_joint",
"right_hip_pitch_joint",
"waist_yaw_joint",
"left_hip_roll_joint",
"right_hip_roll_joint",
"waist_roll_joint",
"left_hip_yaw_joint",
"right_hip_yaw_joint",
"waist_pitch_joint",
"left_knee_joint",
"right_knee_joint",
"left_shoulder_pitch_joint",
"right_shoulder_pitch_joint",
"left_ankle_pitch_joint",
"right_ankle_pitch_joint",
"left_shoulder_roll_joint",
"right_shoulder_roll_joint",
"left_ankle_roll_joint",
"right_ankle_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": [
23
],
"names": [
"left_gripper",
"right_gripper",
"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",
"base_lin_x_local",
"base_lin_y_local",
"base_ang_z_local",
"base_height_cmd",
"torso_orientation_roll_cmd",
"torso_orientation_pitch_cmd",
"torso_orientation_yaw_cmd"
],
"fps": 50
},
"processed_action": {
"dtype": "float32",
"shape": [
43
],
"names": [
"left_hip_pitch_joint",
"right_hip_pitch_joint",
"waist_yaw_joint",
"left_hip_roll_joint",
"right_hip_roll_joint",
"waist_roll_joint",
"left_hip_yaw_joint",
"right_hip_yaw_joint",
"waist_pitch_joint",
"left_knee_joint",
"right_knee_joint",
"left_shoulder_pitch_joint",
"right_shoulder_pitch_joint",
"left_ankle_pitch_joint",
"right_ankle_pitch_joint",
"left_shoulder_roll_joint",
"right_shoulder_roll_joint",
"left_ankle_roll_joint",
"right_ankle_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
},
"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)] |