Search is not available for this dataset
observation.state listlengths 31 31 | action listlengths 19 19 | processed_action listlengths 29 29 | timestamp float32 0 45.7 | episode_index int64 0 3.1k | task_index int64 0 61 | index int64 0 2.69M | frame_index int64 0 2.29k |
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
1 Dataset Description
This dataset includes 62 Lightwheel-Robocasa-Tasks, collected using the g1-controller robot in environments provided by LW-BenchHub.
The robot configuration used during data collection is G1-Controller, using UnitreeG1ControllerEnvCfg inherits from UnitreeG1EnvCfg.
1.1 Robot State
The robot state recorded in the environment is stored in: observation.state
- Dimension: 31
- 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: 19
The action is ordered as: base (3), left arm (7), right arm (7), left hand (1), right hand (1).
| Component | Dimension | Description |
|---|---|---|
| Base action | 3 | Planar base motion in world frame |
| Arm action | 14 | 7-DOF left arm + 7-DOF right arm (end-effector poses) |
| Hand action | 2 | Continuous gripper control |
@configclass
class G1PinkActionsCfg(PinkActionsCfg):
base_action: mdp.RelativeJointPositionActionCfg = mdp.RelativeJointPositionActionCfg(
asset_name="robot",
joint_names=["base_.*"],
scale={
"base_x_joint": 0.01,
"base_y_joint": 0.01,
"base_yaw_joint": 0.02,
},
use_zero_offset=True,
)
arms_action: G1ActionCfg = G1ActionCfg(asset_name="robot", joint_names=[
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_elbow_joint",
"left_wrist_roll_joint",
"left_wrist_pitch_joint",
"left_wrist_yaw_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"right_wrist_yaw_joint"
])
1.2.1 Base Action
The base action is implemented using RelativeJointPositionActionCfg, you can refer to the G1PinkActionsCfg above.
- Controlled dimensions:
base_x_joint(index 0): Forward/backward movement in world framebase_y_joint(index 1): Left/right movement in world framebase_yaw_joint(index 2): Yaw rotation
- Scale:
base_x_joint: 0.01base_y_joint: 0.01base_yaw_joint: 0.02
1.2.2 Arm Action
The arm actions control the end-effector poses (position and orientation) in the robot root frame.
The 14-dimensional arm action is passed to G1ActionCfg, where it is interpreted as a pose vector: [left_arm_pos (3), left_arm_quat (4), right_arm_pos (3), right_arm_quat (4)]
This pose representation is then converted into a 14-dimensional joint-space command via inverse kinematics.
Left arm action (indices 3-9):
left_arm_pos_x(index 3): X position in robot root frameleft_arm_pos_y(index 4): Y position in robot root frameleft_arm_pos_z(index 5): Z position in robot root frameleft_arm_quat_w(index 6): Quaternion w componentleft_arm_quat_x(index 7): Quaternion x componentleft_arm_quat_y(index 8): Quaternion y componentleft_arm_quat_z(index 9): Quaternion z component
Right arm action (indices 10-16):
right_arm_pos_x(index 10): X position in robot root frameright_arm_pos_y(index 11): Y position in robot root frameright_arm_pos_z(index 12): Z position in robot root frameright_arm_quat_w(index 13): Quaternion w componentright_arm_quat_x(index 14): Quaternion x componentright_arm_quat_y(index 15): Quaternion y componentright_arm_quat_z(index 16): Quaternion z component
Coordinate frame: Robot root frame
1.2.3 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
Left gripper (index 17): Continuous value from -1.0 (open) to 1.0 (closed)
Right gripper (index 18): 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)
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "g1_controller",
"total_episodes": 3100,
"total_frames": 2694024,
"total_tasks": 62,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:3100"
},
"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": [
31
],
"names": [
"base_x_joint",
"base_y_joint",
"base_yaw_joint",
"left_shoulder_pitch_joint",
"right_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"right_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"right_shoulder_yaw_joint",
"left_elbow_joint",
"right_elbow_joint",
"left_wrist_roll_joint",
"right_wrist_roll_joint",
"left_wrist_pitch_joint",
"right_wrist_pitch_joint",
"left_wrist_yaw_joint",
"right_wrist_yaw_joint",
"left_hand_index_0_joint",
"left_hand_middle_0_joint",
"left_hand_thumb_0_joint",
"right_hand_index_0_joint",
"right_hand_middle_0_joint",
"right_hand_thumb_0_joint",
"left_hand_index_1_joint",
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}
Homepage: [Lightwheel-BenchHub]
License: [Apache License 2.0]
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