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README.md

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+---
+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_data
+
+Contact-rich **assembly** demonstrations (NIST peg insert) 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 12 mm round peg and insert it into the hole` | 100 |
+| `pick up the 16 mm round peg and insert it into the hole` | 100 |
+| `pick up the 4 mm round peg and insert it into the hole` | 100 |
+| `pick up the 8 mm round peg and insert it into the hole` | 100 |
+| `pick up the 12 mm square peg and insert it into the hole` | 50 |
+| `pick up the 16 mm square peg and insert it into the hole` | 50 |
+| `pick up the 4 mm square peg and insert it into the hole` | 100 |
+| `pick up the 8 mm square peg and insert it into the hole` | 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) |