WT-MM/eval_lerobot_tactile

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=WT-MM/eval_lerobot_tactile">
<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>

## Dataset Description

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "so100_tactile_follower",
"total_episodes": 5,
"total_frames": 7258,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.tactile.primary": {
"dtype": "float32",
"shape": [
12,
32
],
"names": [
"height",
"width"
]
},
"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
}
},
"tactile_sensors": {
"primary": {
"port": "/dev/tty.usbserial-AQ01LJMO",
"baud_rate": 2000000,
"rows": 12,
"cols": 32,
"threshold": 25.0,
"noise_scale": 30.0,
"init_frames": 30,
"is_calibrated": true,
"baseline": [
[
1.0,
0.0,
2.0,
0.0,
0.0,
3.0,
1.0,
1.0,
5.0,
4.0,
14.0,
15.0,
7.0,
9.0,
16.0,
9.0,
3.0,
5.0,
11.0,
18.0,
7.0,
4.0,
10.0,
9.0,
3.0,
8.0,
13.0,
12.0,
3.0,
15.0,
17.0,
7.0
],
[
3.0,
0.0,
2.0,
1.0,
0.0,
12.0,
5.0,
1.0,
1.0,
2.0,
8.0,
15.0,
6.0,
5.0,
7.0,
3.0,
3.0,
9.0,
19.0,
9.0,
4.0,
11.0,
10.0,
14.0,
3.0,
6.0,
20.0,
11.0,
12.0,
15.0,
7.0,
2.0
],
[
3.0,
0.0,
6.0,
1.0,
0.0,
7.0,
4.0,
0.0,
0.0,
1.0,
4.0,
14.0,
7.0,
9.0,
10.0,
3.0,
5.0,
11.0,
24.0,
6.0,
4.0,
17.0,
8.0,
17.0,
5.0,
5.0,
23.0,
21.0,
15.0,
2.0,
1.0,
0.0
],
[
4.0,
0.0,
1.0,
0.0,
0.0,
7.0,
5.0,
0.0,
0.0,
2.0,
9.0,
30.0,
7.0,
12.0,
23.0,
11.0,
3.0,
4.0,
6.0,
12.0,
9.0,
13.0,
14.0,
24.0,
8.0,
7.0,
17.0,
3.0,
1.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
4.0,
3.0,
0.0,
0.0,
8.0,
10.0,
9.0,
11.0,
32.0,
12.0,
10.0,
8.0,
3.0,
14.0,
22.0,
19.0,
23.0,
14.0,
17.0,
5.0,
3.0,
3.0,
1.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
3.0,
3.0,
1.0,
0.0,
17.0,
8.0,
5.0,
3.0,
8.0,
4.0,
7.0,
44.0,
6.0,
12.0,
13.0,
20.0,
20.0,
22.0,
30.0,
4.0,
1.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
1.0,
0.0,
0.0,
0.0,
0.0,
7.0,
8.0,
3.0,
0.0,
8.0,
19.0,
8.0,
11.0,
16.0,
8.0,
5.0,
20.0,
9.0,
17.0,
35.0,
20.0,
7.0,
7.0,
9.0,
4.0,
1.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
1.0,
0.0,
0.0,
0.0,
0.0,
23.0,
25.0,
11.0,
0.0,
2.0,
3.0,
3.0,
5.0,
4.0,
19.0,
3.0,
4.0,
7.0,
66.0,
46.0,
4.0,
1.0,
1.0,
2.0,
1.0,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
1.0,
0.0,
0.0,
0.0,
0.0,
5.0,
5.0,
4.0,
0.0,
3.0,
10.0,
9.0,
6.0,
4.0,
64.0,
23.0,
20.0,
27.0,
15.0,
12.0,
2.0,
1.0,
1.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
2.0,
0.0,
0.0,
0.0,
0.0,
4.0,
4.0,
3.0,
0.0,
3.0,
8.0,
8.0,
7.0,
4.0,
36.0,
13.0,
9.0,
12.0,
11.0,
11.0,
1.0,
0.0,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
4.0,
0.0,
0.0,
0.0,
0.0,
7.0,
7.0,
6.0,
0.0,
4.0,
12.0,
12.0,
10.0,
5.0,
33.0,
9.0,
8.0,
11.0,
13.0,
13.0,
2.0,
1.0,
1.0,
1.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
]
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```