---
license: mit
task_categories:
- robotics
language:
- en
tags:
- robotics
- isaac-lab
- cross-embodiment
- manipulation
- franka
- stretch
- fetch
size_categories:
- 10K<n<100K
---

# 🤖 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

[![Robot Zoo Demo](https://img.youtube.com/vi/tAKlP3oEv3Y/0.jpg)](https://youtu.be/tAKlP3oEv3Y)

▶️ [Watch on YouTube](https://youtu.be/tAKlP3oEv3Y) | [Download MP4](https://huggingface.co/datasets/shareef14/robot-zoo/blob/main/demo_video.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

```python
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

[GitHub](https://github.com/Shareefbaba) · [LinkedIn](https://linkedin.com/in/shareefbaba) · [Portfolio](https://shareefbaba.github.io) · [HuggingFace](https://huggingface.co/shareef14)