Update README.md

README.md

@@ -13,13 +13,115 @@ configs:
 
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
-## Dataset Description
+# 1 Dataset Description
 
+This dataset includes Lightwheel-Libero-Tasks and Lightwheel-Robocasa-Tasks, collected using the x7s robot in environments provided by LW-BenchHub.  
+The robot configuration used during data collection is **`X7s-Abs`**.
 
+---
+
+## 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`
+  - `base_y_joint`
+  - `base_yaw_link`
+- **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
 
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
+The body action controls the torso motion and is implemented using `RelativeJointPositionActionCfg`.
+
+- **Controlled joints**:
+  - `body_z_joint`
+  - `body_y_joint`
+- **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 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:
+
+- **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
 
@@ -248,4 +350,6 @@ 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)]