Update README.md

README.md

@@ -14,13 +14,99 @@ size_categories:
 
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
-## Dataset Description
+# 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
 
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
+- **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
 
@@ -289,4 +375,6 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
     "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)]