Industrial peg-in-hole with force traces
Contact-rich insertion capture with force-torque and vision-occlusion labels, including alignment errors and jam events.
This is a custom capture program for contact-rich peg-in-hole insertion in factory cells. We record synchronized force-torque, RGB-D, and proprioception through alignment errors, jam events, and successful inserts. Insertion is decided by milliseconds-long contact dynamics that simulation approximates poorly, so force-aligned real capture is what makes these policies reliable on the line.
What we collect
Alignment errors, jam events, and successful inserts with synchronized force and video, capturing the full distribution of contact outcomes rather than only clean insertions.
Sensors and modalities
Force-torque, RGB-D, and proprioception, tightly time-aligned through our multi-sensor synchronization service. Sync matters here because contact events are milliseconds long.
How capture works
A pilot validates the force-vision rig and acceptance criteria, then capture scales across parts and tolerances following our robotics data collection workflow.
QA and metadata
Episodes carry part geometry, tolerance, contact outcome, max force, and cycle time. QA gates apply the insertion success rates and force thresholds agreed in scope.
Who it is for
Industrial manipulation teams working on contact-rich assembly. Because contact dynamics are where simulation breaks down, this program directly supports sim-to-real data collection.
Scenario FAQ
Scope your capture program
Book a discovery call to align on your stack and data requirements.