Datasets:
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observation.state
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End of preview. Expand
in Data Studio
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
{
"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]
License: [Apache License 2.0]
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