| --- |
| 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 |
|
|
