---
license: apache-2.0
tags:
- robotics
- pi-05
- gear_mesh
- real
- lerobot
task_categories:
- robotics
---
# FIRe-VLA-PI05-GearMesh-Real

<!-- TODO: FIRe project one-line description and paper/code links -->

Demonstration dataset for the **Gear meshing** contact-rich robotic assembly task
(**Real** domain), formatted for **PI05** training. Part of the FIRe dataset suite.

- **Framework:** PI05
- **Task:** Gear meshing (`gear_mesh`)
- **Domain:** Real
- **Format:** LeRobot
- **Episodes:** 31
- **Frames:** 3968
- **FPS:** 15
- **Robot:** franka_emika_panda

## Loading

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-PI05-GearMesh-Real")
```