WireFishing-M
A multimodal robotics dataset for deformable cable insertion, capturing a Franka Emika Panda 7-DOF arm with Allegro Robot Hand and DIGIT GelSight tactile sensor inserting seven types of cables into a transparent L-shaped PVC pipe. Each episode contains synchronized RGB camera streams (four views) and robot state data including force/torque, pose, joint angles, and insertion success labels.
Why This Matters for Physical AI
WireFishing-M provides multimodal tactile, visual, and proprioceptive data for contact-rich deformable object manipulation, enabling research in sensor fusion, force estimation, and policy learning for insertion tasks that require precise force control and real-time contact feedback.
Technical Profile
- Modalities
- rgbforce_torqueproprioceptiontactile
- Robot Embodiments
- Franka PandaAllegro Robot Hand
- Environment
- lab
- Task Types
- cable_insertiondeformable_object_manipulationcontact_rich_manipulation
- Episodes
- 14
- Data Format
- MCAP
- Annotation Types
- insertion_success_labelsrobot_state_labels
- License
- cc-by-4.0
Access
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