tshiamor/sfp_all_nics_curobo_teleop_v2

SFP Insertion Teleop Dataset

UR5e robot teleop demonstrations for SFP module insertion into NIC card cages in NVIDIA Isaac Sim 5.1.

Collected using cuRobo GPU-accelerated approach (HOME → HOVER → ALIGNED) followed by gamepad teleop for fine insertion. HOME position randomized ±5cm XY per episode.

Observations

Field	Shape	Type	Description	Example Values
observation.state.joint_pos	(6,)	float32	Arm joint angles	[0.855, -1.175, -1.903, -1.635, 1.571, 2.426] rad
observation.state.joint_vel	(6,)	float32	Joint velocities	[0.001, 0.000, 0.000, 0.000, -0.000, -0.003] rad/s
observation.state.ee_pos	(3,)	float32	End-effector XYZ (tool0)	[0.121, -0.001, 0.420] meters
observation.state.ee_quat	(4,)	float32	End-effector orientation	[-0.023, -0.008, -0.992, -0.125] wxyz
observation.state.sfp_pos	(3,)	float32	SFP module XYZ	[0.126, 0.045, 0.203] meters
observation.state.sfp_quat	(4,)	float32	SFP orientation	[0.011, -0.022, 0.023, 0.999] wxyz
observation.state.wrench	(6,)	float32	F/T sensor (Axia80)	[+46.0, -33.2, +6.1, +18.8, +29.0, +0.3] N, Nm
observation.state.gripper_pos	(2,)	float32	Finger positions	[0.0, 0.0] → [0.03, 0.03] meters
observation.goal.pos	(3,)	float32	Target cage XYZ	[0.123, 0.046, 0.146] meters
observation.goal.quat	(4,)	float32	Target orientation	[1.0, 0.0, 0.0, 0.0] wxyz
observation.images.center	(480,640,3)	video	Center wrist camera	RGB mp4
observation.images.left	(480,640,3)	video	Left wrist camera	RGB mp4
observation.images.right	(480,640,3)	video	Right wrist camera	RGB mp4

Action

Field	Shape	Type	Description
action	(7,)	float32	[dx, dy, dz, drx, dry, drz, gripper_pos]

Index	Name	Unit	Range	Description
0	dx	m/frame	±0.0005	X position delta
1	dy	m/frame	±0.0005	Y position delta
2	dz	m/frame	±0.0005	Z position delta
3	drx	rad/frame	±0.001	Roll rotation delta
4	dry	rad/frame	±0.001	Pitch rotation delta
5	drz	rad/frame	±0.001	Yaw rotation delta
6	gripper	meters	0.0–0.03	Gripper target (0=closed, 0.03=open)

ee_pos vs sfp_pos

    Robot arm
        │
    [tool0] ← ee_pos (wrist flange)
        │
     cable (~222mm)
        │
    [SFP module] ← sfp_pos (the plug you're inserting)
        │
    [NIC cage] ← goal.pos (the target hole)

• ee_pos = tool0 frame (where the robot wrist ends)
• sfp_pos = SFP module body (the plug tip, ~222mm below tool0 along the cable)
• goal.pos = target NIC cage opening

Meta

Field	Value
fps	20 Hz
codebase_version	v2.1
robot_type	ur5e_sfp
data_path	data/chunk-000/episode_NNNNNN.parquet
video_path	videos/observation.images.{cam}/episode_NNNNNN.mp4

Collection

• Simulator: NVIDIA Isaac Sim 5.1.0
• Robot: UR5e with Axia80 F/T sensor + parallel gripper
• Planner: cuRobo MotionGen (GPU-accelerated approach)
• Teleop: PS4 gamepad (Jacobian-based Cartesian control)
• HOME randomization: ±5cm XY per episode