shareef14/robot-zoo

🤖 Robot Zoo

An open-source multi-embodiment robotics dataset for cross-embodiment research. Built with Isaac Lab 0.54.3 + Isaac Sim 5.1.0.

Demo Video

▶️ Watch on YouTube | Download MP4

Dataset Summary

Task	Franka	Stretch	Fetch	Total
Pick Cube	1000	1058	1000	3058
Open Drawer	1000	-	-	1000
Reach	1000	1000	1000	3000
Place Cube	1000	1000	1000	3000
Push	1000	-	1000	2000
Total	5000	3058	4000	13,058

Robots

Robot	Type	DOF	Base
Franka Panda	Fixed arm	7	Fixed
Stretch 3	Mobile manipulator	8	Mobile
Fetch	Mobile manipulator	7	Mobile

Data Format

Each episode is saved as a .npz file with keys:

• observation_state — joint positions and velocities
• observation_cube_pos — object/target position (3D)
• action — commanded joint targets
• reward — per-step reward signal

How to Load

from huggingface_hub import snapshot_download
import numpy as np
from pathlib import Path

path = snapshot_download(repo_id="shareef14/robot-zoo", repo_type="dataset")
ep = np.load(Path(path) / "fetch_pick_cube" / "episode_0000.npz")
print(ep["observation_state"].shape)
print(ep["observation_cube_pos"].shape)
print(ep["action"].shape)

GitHub

https://github.com/Shareefbaba/robot-zoo

Author

Shareef Baba Shaik — Robotics Engineer, Hyderabad, India

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