angledusgar/forge-v1
Robotics Dataset
Forge v1 is a contact-rich manipulation dataset with force/torque signals, containing 2,968 expert demonstrations of three peg-in-hole style tasks (peg insertion, gear meshing, nut threading) collected from trained PPO policies in Isaac Lab, featuring a Franka Panda robot with wrist force/torque sensing.
Catalog metadata
- Repository owner
- angledusgar
- Source
- Hugging Face / LeRobot
- Robot
- panda
- Episodes
- 2968
- Frames
- 888032
- Cameras
- 2
- Frames per second
- 15
- License
- apache-2.0
Example tasks
- insert the peg into the socket
- mesh the gear onto the shaft
- thread the nut onto the bolt
Browse the catalog to compare robots, tasks, sensors, and licenses. Sign in to open protected download and model links.