metadata
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.
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.
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 frameleft_arm_pos_y(index 3): Y position in robot frameleft_arm_pos_z(index 4): Z position in robot frameleft_arm_quat_w(index 5): Quaternion w componentleft_arm_quat_x(index 6): Quaternion x componentleft_arm_quat_y(index 7): Quaternion y componentleft_arm_quat_z(index 8): Quaternion z component
Right arm action (indices 9-15):
right_arm_pos_x(index 9): X position in robot frameright_arm_pos_y(index 10): Y position in robo frameright_arm_pos_z(index 11): Z position in robot frameright_arm_quat_w(index 12): Quaternion w componentright_arm_quat_x(index 13): Quaternion x componentright_arm_quat_y(index 14): Quaternion y componentright_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
{
"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": {
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"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": {
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1
],
"names": null,
"fps": 50
},
"episode_index": {
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],
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"fps": 50
},
"task_index": {
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},
"index": {
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},
"frame_index": {
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}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}