---
license: mit
task_categories:
  - robotics
tags:
  - robomimic
  - cpgen
  - nutassembly
size_categories:
  - 1B<n<10B
---

# NutAssemblySquare 21-View Matched

Dataset rendered via CPGen for the NutAssemblySquare task (robomimic). Same 199 trajectories observed from 22 cameras.

## Specs
- **File**: `nutassembly-21view-matched.hdf5` (~85.8 GB, split into 8 × 10.7 GB chunks below)
- **Cameras**: `agentview`, `robot0_eye_in_hand`, and 21 `third_view_*` at cpgen azimuths {0, ±15, ±30, ±45, ±60, ±75, ±90, ±105, ±120, ±135, ±150, ±165, 180} — note **asymmetric**, third_view set is missing −75, −90, −105
- **Resolution**: 84×84 RGB + depth + per-camera intrinsics + extrinsics
- **Demos**: 199 trajectories, ~131 frames each
- **TCP**: per-camera tcp_pixel_coords, tcp_pos (camera frame), tcp_orn (rotation 9d), tcp_in_frame visibility flag

## Reassembly
```bash
huggingface-cli download yyHYR/nutassembly-21view-matched --repo-type=dataset --local-dir .
cat nutassembly-21view-matched.hdf5.part-* > nutassembly-21view-matched.hdf5
sha256sum -c manifest.sha256
```

## Loader
Standard robomimic HDF5 format. Reads via `savla.dataset.robomimic_hdf5.RobomimicHDF5Dataset`.