Datasets:
metadata
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.
assembly_joint
Multi-task contact-rich assembly demonstrations across the NIST peg family (round & rectangular, 4/8/12/16 mm, loose/tight) and the gear-mesh family (small/medium/large gears meshed onto a 3-shaft base), generated by a privileged scripted IK expert in NVIDIA Isaac Lab. Actions are the native DROID joint-position command (7 absolute arm joint targets + binary gripper), so pi0.5/openpi/Cosmos/GR00T consume them directly.
- Robot: Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController (dls) into stiff PD joint-position control (400/80).
- Control / record rate: 15 Hz (sim 120 Hz, decimation 8).
Tasks (per-episode instruction)
| task | demos |
|---|---|
pick up the large gear and mesh it onto its shaft |
4 |
pick up the medium gear and mesh it onto its shaft |
4 |
pick up the small gear and mesh it onto its shaft |
4 |
pick up the 12 mm round peg and insert it into the hole |
4 |
pick up the 12 mm round peg and insert it into the hole |
4 |
pick up the 16 mm round peg and insert it into the hole |
4 |
pick up the 16 mm round peg and insert it into the hole |
4 |
pick up the 4 mm round peg and insert it into the hole |
4 |
pick up the 4 mm round peg and insert it into the hole |
4 |
pick up the 8 mm round peg and insert it into the hole |
4 |
pick up the 8 mm round peg and insert it into the hole |
4 |
pick up the 12 mm square peg and insert it into the hole |
4 |
pick up the 12 mm square peg and insert it into the hole |
4 |
pick up the 16 mm square peg and insert it into the hole |
4 |
pick up the 16 mm square peg and insert it into the hole |
4 |
pick up the 4 mm square peg and insert it into the hole |
4 |
pick up the 4 mm square peg and insert it into the hole |
4 |
pick up the 8 mm square peg and insert it into the hole |
4 |
pick up the 8 mm square peg and insert it into the hole |
4 |
Observation / action / state layout
| key | dtype | shape | meaning / units |
|---|---|---|---|
observation.images.front |
video (H.264, CRF 20) | (224,224,3) | third-person RGB, uint8 |
observation.images.wrist |
video (H.264, CRF 20) | (224,224,3) | eye-in-hand RGB, uint8 |
observation.state |
float32 | (21,) | joint_position (7, rad) + gripper_position (1) + EE pos (3, m) + EE quat (4, wxyz) + wrench (6) |
action |
float32 | (8,) | 7 absolute arm joint-position targets (rad) + gripper (1: 1=close, 0=open) |