Datasets:
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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LIBERO
- 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 117 Lightwheel-Libero-Tasks and 89 Lightwheel-Robocasa-Tasks, collected using the x7s robot in environments provided by LW-BenchHub.
The robot configuration used during data collection is **`X7s-Abs`**, using `X7SAbsEnvCfg` inherits from `X7SEnvCfg`.
---
## 1.1 Robot State
The robot state recorded in the environment is stored in: **observation.state**
- **Dimension**: 25
- **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**: 21
The action is ordered as: base (3), body (2), left arm (7), right arm (7), left gripper (1), right gripper (1).
| Component | Dimension | Description |
|:----------------|:---------:|:------------------------------------|
| Base action | 3 | Planar base motion |
| Body action | 2 | Vertical and pitch motion |
| Arm action | 14 | 7-DOF left arm + 7-DOF right arm |
| Gripper action | 2 | Binary gripper control |
## 1.2.1 Base Action
The base action is implemented using `RelativeJointPositionActionCfg`.
- **Controlled joints**:
- `base_x_joint` (index 0)
- `base_y_joint` (index 1)
- `base_yaw_link` (index 2)
- **Scale**: `0.01`
```python
self.action_config.base_action = mdp.RelativeJointPositionActionCfg(
asset_name="robot",
joint_names=["base.*"],
scale=0.01,
use_zero_offset=True,
)
```
## 1.2.2 Body Action
The body action controls the torso motion and is implemented using `RelativeJointPositionActionCfg`.
- **Controlled joints**:
- `body_z_joint` (index 3)
- `body_y_joint` (index 4)
- **Scale**: `0.025`
```python
self.action_config.body_action = mdp.RelativeJointPositionActionCfg(
asset_name="robot",
joint_names=["body.*"],
scale=0.025,
use_zero_offset=True,
)
```
## 1.2.3 Arm Action
The arm actions are implemented using `JointPositionActionCfg`.
- **Controlled joints**:
- `left_shoulder_y` (index 5), `right_shoulder_y` (index 12)
- `left_shoulder_x` (index 6), `right_shoulder_x` (index 13)
- `left_shoulder_z` (index 7), `right_shoulder_z` (index 14)
- `left_elbow_y` (index 8), `right_elbow_y` (index 15)
- `left_elbow_x` (index 9), `right_elbow_x` (index 16)
- `left_wrist_y` (index 10), `right_wrist_y` (index 17)
- `left_wrist_z` (index 11), `right_wrist_z` (index 18)
```python
self.action_config.left_arm_action = mdp.JointPositionActionCfg(
asset_name="robot", joint_names=["left_shoulder_y", "left_shoulder_x", "left_shoulder_z",
"left_elbow_y", "left_elbow_x",
"left_wrist_y", "left_wrist_z"],
scale=1.0, use_default_offset=True
)
self.action_config.right_arm_action = mdp.JointPositionActionCfg(
asset_name="robot", joint_names=["right_shoulder_y", "right_shoulder_x", "right_shoulder_z",
"right_elbow_y", "right_elbow_x",
"right_wrist_y", "right_wrist_z"],
scale=1.0, use_default_offset=True
)
```
## 1.2.4 Gripper Action
Grippers are controlled using `BinaryJointPositionActionCfg`. In the action data, `-1` indicates closing the gripper, `+1` indicates opening the gripper.
The action commands for opening and closing the left and right grippers are defined as follows:
- **Left gripper** (index 19)
- **Right gripper** (index 20)
- **Action cmd**:
- `-1`: close gripper
- `+1`: open gripper
- Each gripper is actuated by two joints together, and the open/close commands are mapped explicitly to joint positions.
```python
# left gripper
self.action_config.left_gripper_action = mdp.BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["left_gripper.*"],
open_command_expr={
"left_gripper1": 0.044,
"left_gripper2": 0.044,
},
close_command_expr={
"left_gripper1": 0.0,
"left_gripper2": 0.0,
},
)
```
```python
# right gripper
self.action_config.right_gripper_action = mdp.BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["right_gripper.*"],
open_command_expr={
"right_gripper1": 0.0,
"right_gripper2": 0.0,
},
close_command_expr={
"right_gripper1": -0.04,
"right_gripper2": -0.04,
},
)
```
---
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "x7s",
"total_episodes": 10300,
"total_frames": 10336395,
"total_tasks": 206,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:10300"
},
"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": [
25
],
"names": [
"base_x_joint",
"base_y_joint",
"base_yaw_link",
"body_z_joint",
"body_y_joint",
"right_shoulder_y",
"head_z_joint",
"left_shoulder_y",
"right_shoulder_x",
"head_y_joint",
"left_shoulder_x",
"right_shoulder_z",
"left_shoulder_z",
"right_elbow_y",
"left_elbow_y",
"right_elbow_x",
"left_elbow_x",
"right_wrist_y",
"left_wrist_y",
"right_wrist_z",
"left_wrist_z",
"right_gripper1",
"right_gripper2",
"left_gripper1",
"left_gripper2"
],
"fps": 50
},
"action": {
"dtype": "float32",
"shape": [
21
],
"names": [
"base_x_joint",
"base_y_joint",
"base_yaw_link",
"body_z_joint",
"body_y_joint",
"left_shoulder_y",
"left_shoulder_x",
"left_shoulder_z",
"left_elbow_y",
"left_elbow_x",
"left_wrist_y",
"left_wrist_z",
"right_shoulder_y",
"right_shoulder_x",
"right_shoulder_z",
"right_elbow_y",
"right_elbow_x",
"right_wrist_y",
"right_wrist_z",
"left_gripper",
"right_gripper"
],
"fps": 50
},
"processed_action": {
"dtype": "float32",
"shape": [
23
],
"names": [
"base_x_joint",
"base_y_joint",
"base_yaw_link",
"body_z_joint",
"body_y_joint",
"left_shoulder_y",
"left_shoulder_x",
"left_shoulder_z",
"left_elbow_y",
"left_elbow_x",
"left_wrist_y",
"left_wrist_z",
"right_shoulder_y",
"right_shoulder_x",
"right_shoulder_z",
"right_elbow_y",
"right_elbow_x",
"right_wrist_y",
"right_wrist_z",
"left_gripper1",
"left_gripper2",
"right_gripper1",
"right_gripper2"
],
"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)] |