README.md

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_rewards_potential

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 8 mm round peg and insert it into the hole	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)