| --- |
| 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_joint"> |
| <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_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) | |
| |
