---
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) |