---
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_bench_2">
<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_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) |