angledusgarapache-2.0
Forge v1
Expert demonstrations for three Isaac Lab FORGE contact-rich manipulation tasks (peg insertion, gear meshing, nut threading) collected from trained PPO policies, featuring wrist force/torque signals to resolve sub-pixel contact dynamics.
Downloads5
Episodes2968
Why This Matters for Physical AI
This dataset enables learning contact-rich manipulation with sub-pixel precision by providing wrist force/torque signals that resolve contact events invisible to visual sensors, critical for high-precision insertion tasks.
Technical Profile
- Modalities
- rgbforce_torqueproprioception
- Robot Embodiments
- Franka Panda
- Action Space
- end_effector_delta
- Environment
- simulation
- Task Types
- manipulationpeg_insertiongear_meshingnut_threading
- Episodes
- 2968
- Data Format
- LeRobot
- Annotation Types
- language_instructionstask_labels
- License
- apache-2.0
Access
Need custom rgb data?
Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.
Request a Sample Pack