Datasets:

LightwheelAI
/

Lightwheel-Tasks-X7S

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.

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

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

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)

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.

# 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,
    },
)

# 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:

{
    "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
}