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