| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - isaac-sim |
| - assembly |
| - manipulation |
| 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=lukasskellijs%2Fassembly_bench_2"> |
| <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-dark-xl.svg"/> |
| </a> |
|
|
| # assembly_bench_2 |
|
|
| Contact-rich **assembly** demonstrations (NIST peg/gear/nut) generated by a privileged scripted IK |
| expert in NVIDIA Isaac Lab (Arena). Actions are the **native DROID joint-position** command |
| (7 absolute arm joint targets + binary gripper), so pi0.5/openpi/GR00T consume them directly. |
|
|
| - **Robot:** Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController |
| (dls) into stiff PD joint-position control. |
| - **Control / record rate:** **15 Hz**. |
|
|
| ## Tasks (per-episode instruction) |
|
|
| | task | demos | |
| |------|-------| |
| | `pick up the M12 nut and thread it onto the bolt` | 100 | |
| | `pick up the M16 nut and thread it onto the bolt` | 100 | |
| | `pick up the M20 nut and thread it onto the bolt` | 100 | |
| | `pick up the M8 nut and thread it onto the bolt` | 100 | |
|
|
| ## Observation / action / state layout |
|
|
| | key | dtype | shape | meaning / units | |
| |-----|-------|-------|-----------------| |
| | `observation.images.front` | video (H.264, CRF 20) | (180,320,3) | third-person RGB, uint8, DROID-RLDS resolution | |
| | `observation.images.wrist` | video (H.264, CRF 20) | (180,320,3) | eye-in-hand RGB, uint8, DROID-RLDS resolution | |
| | `observation.state` | float32 | (8,) | joint_position (7, rad) + gripper_position (1, 0=open 1=closed) | |
| | `observation.joint_vel` | float32 | (7,) | arm joint velocities (rad/s, no gripper) | |
| | `observation.eef_pos` | float32 | (3,) | end-effector position, robot base frame (m) | |
| | `observation.eef_quat` | float32 | (4,) | end-effector orientation, world frame, **wxyz** | |
| | `action` | float32 | (8,) | 7 absolute arm joint-position targets (rad) + gripper (1: 1=close, 0=open) | |
|
|
