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