CLARU
lukasskellijsapache-2.0

assembly_bench_data

Contact-rich assembly demonstrations (NIST peg insert) generated by a privileged scripted IK expert in NVIDIA Isaac Lab, with native DROID joint-position commands for direct consumption by policy models.

Downloads18

Technical Profile

Modalities
rgbproprioceptionjoint_positionsjoint_velocitiesend_effector_positionend_effector_orientation
Robot Embodiments
Franka Panda
Environment
simulation
Task Types
assemblypick_and_placeinsertion
Data Format
parquet
License
apache-2.0
Part of the assembly_bench_data family

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