Lightwheel-Tasks-Double-Piper

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). # 1 Dataset Description This dataset includes 130 Lightwheel-Libero-Tasks, collected using the double-piper robot in environments provided by LW-BenchHub. The robot configuration used during data collection is **`DoublePiper-Abs`**, using `DoublePiperAbsEnvCfg` inherits from `DoublePiperEnvCfg`. --- ## 1.1 Robot State The robot state recorded in the environment is stored in: **observation.state** - **Dimension**: 16 - **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**: 12 The action is ordered as: left arm (5), right arm (5), left gripper (1), right gripper (1). | Component | Dimension | Description | |:----------------|:---------:|:------------------------------------| | Arm action | 10 | 5-DOF left arm + 5-DOF right arm | | Gripper action | 2 | Binary gripper control | ## 1.2.1 Arm Action The arm actions are implemented using `JointPositionActionCfg`. - **Controlled joints**: - `joint1_l` (index 0), `joint1_r` (index 5) - `joint2_l` (index 1), `joint2_r` (index 6) - `joint3_l` (index 2), `joint3_r` (index 7) - `joint5_l` (index 3), `joint5_r` (index 8) - `joint6_l` (index 4), `joint6_r` (index 9) ```python self.action_config.left_arm_action = mdp.JointPositionActionCfg( asset_name="robot", joint_names=["joint1_l", "joint2_l", "joint3_l", "joint5_l", "joint6_l"], scale=1, use_default_offset=True ) self.action_config.right_arm_action = mdp.JointPositionActionCfg( asset_name="robot", joint_names=["joint1_r", "joint2_r", "joint3_r", "joint5_r", "joint6_r"], scale=1, use_default_offset=True ) ``` ## 1.2.2 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 10) - **Right gripper** (index 11) - **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=["finger_joint.*_l"], open_command_expr={"finger_joint_left_l": 0.035, "finger_joint_right_l": -0.035}, close_command_expr={"finger_joint.*_l": 0.0}, ) ``` ```python # right gripper self.action_config.right_gripper_action = mdp.BinaryJointPositionActionCfg( asset_name="robot", joint_names=["finger_joint.*_r"], open_command_expr={"finger_joint_left_r": 0.035, "finger_joint_right_r": -0.035}, close_command_expr={"finger_joint.*_r": 0.0}, ) ``` --- ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v3.0", "robot_type": "double_piper", "total_episodes": 6500, "total_frames": 6010166, "total_tasks": 130, "chunks_size": 1000, "fps": 50, "splits": { "train": "0:6500" }, "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": [ 16 ], "names": [ "joint1_r", "joint1_l", "joint2_r", "joint2_l", "joint3_r", "joint3_l", "joint4_r", "joint4_l", "joint5_r", "joint5_l", "joint6_r", "joint6_l", "finger_joint_left_r", "finger_joint_right_r", "finger_joint_left_l", "finger_joint_right_l" ], "fps": 50 }, "action": { "dtype": "float32", "shape": [ 12 ], "names": [ "joint1_l", "joint2_l", "joint3_l", "joint5_l", "joint6_l", "joint1_r", "joint2_r", "joint3_r", "joint5_r", "joint6_r", "left_gripper", "right_gripper" ], "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](https://docs.lightwheel.net/lw_benchhub/)] ## License: [[Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0)]