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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- latchbench
- so101
- isaac-lab-arena
- rj45
configs:
- config_name: default
data_files: data/*/*.parquet
---
# LatchBench SO-101 RJ45 insertion, v1
Simulated demonstrations of an SO-101 arm inserting an RJ45 plug into a 3-port network switch, recorded in
[LatchBench](https://github.com/UD-Y/latchbench) (Isaac Lab-Arena, PhysX) and stored in LeRobot v3 format with the real SO-101 conventions
(joint names, degrees, 30 fps).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=UD77/latchbench-so101-v1">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## Contents
- 600 episodes, all successful (the latch clicked): 100 per port on the loose (+0.50 mm) and medium (+0.25 mm)
clearance tiers.
- Recorded from the telemetry-spiral expert, given a port estimate with 1.5 mm of noise. The expert approaches the estimated port, detects contact from the servo load, runs a spiral search, drops in and pushes until the latch clicks. Episodes therefore contain contact and search.
- `observation.state` holds 12 values: the 6 joint positions in degrees followed by the 6 signed `Present_Load` registers. `action` holds the 6 joint goal positions in degrees.
- `observation.images.front` and `observation.images.wrist`: 480x640 video.
- `observation.servo_load` and `observation.servo_current`: the simulated STS3215 `Present_Load` (signed, 0.1 % PWM
duty per count) and `Present_Current` (6.5 mA per count) registers, decoded the way LeRobot reads them on a real
arm ([servosense](https://github.com/UD-Y/servosense)).
- `task`: "insert the cable into the left / middle / right port".
- `meta/latchbench_episodes.jsonl`: tier, port, seed and raw-file index per episode.
A GR00T N1.7 fine-tune on this dataset latched 6 of 150 evaluation episodes, against 0 of 150 for the same model trained on v0. Model: [UD77/latchbench-groot-n17-load](https://huggingface.co/UD77/latchbench-groot-n17-load).
Limits: everything is simulated, the plug is rigidly attached to the gripper, and mapping these joint values to a
real arm needs that arm's LeRobot calibration file.
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos",
"shoulder_pan.load",
"shoulder_lift.load",
"elbow_flex.load",
"wrist_flex.load",
"wrist_roll.load",
"gripper.load"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.servo_load": {
"dtype": "int32",
"shape": [
6
],
"names": [
"shoulder_pan.load",
"shoulder_lift.load",
"elbow_flex.load",
"wrist_flex.load",
"wrist_roll.load",
"gripper.load"
]
},
"observation.servo_current": {
"dtype": "int32",
"shape": [
6
],
"names": [
"shoulder_pan.current",
"shoulder_lift.current",
"elbow_flex.current",
"wrist_flex.current",
"wrist_roll.current",
"gripper.current"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 600,
"total_frames": 139323,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "so101_follower",
"splits": {
"train": "0:600"
}
}
```
## Citation
If you use this dataset, please cite the LatchBench repository: https://github.com/UD-Y/latchbench
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