| --- |
| 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_pick_insert"> |
| <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_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]`. |
|
|
