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)