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)