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_bench_2
Contact-rich assembly demonstrations (NIST peg/gear/nut) generated by a privileged scripted IK expert in NVIDIA Isaac Lab (Arena). Actions are the native DROID joint-position command (7 absolute arm joint targets + binary gripper), so pi0.5/openpi/GR00T consume them directly.
- Robot: Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController (dls) into stiff PD joint-position control.
- Control / record rate: 15 Hz.
Tasks (per-episode instruction)
| task | demos |
|---|---|
pick up the M12 nut and thread it onto the bolt |
100 |
pick up the M16 nut and thread it onto the bolt |
100 |
pick up the M20 nut and thread it onto the bolt |
100 |
pick up the M8 nut and thread it onto the bolt |
100 |
Observation / action / state layout
| key | dtype | shape | meaning / units |
|---|---|---|---|
observation.images.front |
video (H.264, CRF 20) | (180,320,3) | third-person RGB, uint8, DROID-RLDS resolution |
observation.images.wrist |
video (H.264, CRF 20) | (180,320,3) | eye-in-hand RGB, uint8, DROID-RLDS resolution |
observation.state |
float32 | (8,) | joint_position (7, rad) + gripper_position (1, 0=open 1=closed) |
observation.joint_vel |
float32 | (7,) | arm joint velocities (rad/s, no gripper) |
observation.eef_pos |
float32 | (3,) | end-effector position, robot base frame (m) |
observation.eef_quat |
float32 | (4,) | end-effector orientation, world frame, wxyz |
action |
float32 | (8,) | 7 absolute arm joint-position targets (rad) + gripper (1: 1=close, 0=open) |