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ForceBench Genesis demonstrations
Teleoperated demonstrations of contact-rich manipulation tasks in the Genesis simulator (7-DoF Flexiv Rizon arm), recorded for ForceBench. Each folder is one LeRobot v3.0 dataset.
| Folder | Episodes | Frames | fps | Cameras | Robot |
|---|---|---|---|---|---|
genesis-pivot-block/ |
50 | 12,328 | 15 | external | genesis_rizon4s |
genesis-plug-insertion-round/ |
50 | 8,002 | 15 | external | genesis_rizon4s |
genesis-plug-insertion-usb-four-view/ |
50 | 9,080 | 15 | overview, close_oblique, close_side, close_top | genesis_rizon4s |
Per frame: camera video, measured TCP pose (observation.follower_tcp_pose_xyzrpy / _wxyz), TCP
velocity, wrench in world axes (observation.follower_wrench_world, plus raw and bias), joint
positions and velocities, and the teleop command (action: TCP pose; action.tcp_velocity).
Euler angles are in [-pi, pi] (roll and yaw sit near +-pi, so they wrap).
Download into a ForceBench checkout:
python3 scripts/sim_datasets.py download
or one folder with the Hub CLI: hf download k3rth1v5n/forcebench-sim-datasets --repo-type dataset --include "<folder>/*" --local-dir sim-datasets.
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