This repo contains the code and instructions to generate a GR00T-flavored LeRobot dataset of
UR5e + Robotiq-2F85 peg-insertion demonstrations, by rolling out the
OmniReset
state-based RL expert (oracle) policy in Isaac Sim.
⚠️ The dataset itself is not hosted here — this repo is code + docs only. Follow the steps
below to generate the data yourself (it's fast: ~20 demos/min on one A40 after the fixes).
Repo… See the full description on the dataset page: https://huggingface.co/datasets/yqi19/omnireset_reproduce.
