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_pick_insert
Contact-rich pick-and-insert demonstrations (grasp a free-standing 8 mm peg, transport it, and insert it straight down into a tight socket) generated by a privileged scripted expert in NVIDIA Isaac Lab. The dataset is model-agnostic: keys follow the LIBERO/robosuite VLA convention so pretrained policies (pi0.5/openpi, Qwen robot-manip, Nano/DROID/Cosmos, XVLA) can fine-tune with a trivial adapter.
- Robot: Franka Panda + Robotiq 2F-85 (DROID standardized platform), operational-space (OSC) delta-EE control with locked gains for this demo set.
- Control / record rate: 15 Hz (sim 120 Hz, decimation 8). Actions are EE deltas between consecutive recorded frames, so the action rate equals the frame rate.
- Instruction:
"pick up the peg and insert it into the hole"
Observation / action / state layout
| key | dtype | shape | meaning / units |
|---|---|---|---|
observation.images.front |
video (H.264, CRF 20) | (224, 224, 3) | third-person/agentview 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, 0..1) + EE pos (3, m) + EE quat (4, wxyz) + EE wrench (6: force N, torque N·m) |
action |
float32 | (7,) | EE delta pos (3, m) + delta rotation (3, axis-angle rad) + gripper target (1, normalized) |
Frames are in the robot base frame. The first 8 dims of observation.state are the DROID
proprio contract (joint_position + gripper_position); EE pose + wrench follow as extras.
Wrench models can slice the last 6; DROID-native fine-tuning uses observation.state[:8].