upload README.md

README.md

@@ -22,10 +22,11 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 
 # assembly_joint
 
-Multi-task contact-rich **peg-insertion** demonstrations across the NIST peg family (round &
-rectangular, 4/8/12/16 mm, loose/tight), generated by a privileged scripted IK expert in NVIDIA
-Isaac Lab. Actions are the **native DROID joint-position** command (7 absolute arm joint targets
-+ binary gripper), so pi0.5/openpi/Cosmos/GR00T consume them directly.
+Multi-task contact-rich **assembly** demonstrations across the NIST peg family (round &
+rectangular, 4/8/12/16 mm, loose/tight) and the gear-mesh family (small/medium/large gears meshed
+onto a 3-shaft base), generated by a privileged scripted IK expert in NVIDIA Isaac Lab. Actions
+are the **native DROID joint-position** command (7 absolute arm joint targets + binary gripper),
+so pi0.5/openpi/Cosmos/GR00T consume them directly.
 
 - **Robot:** Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController
   (dls) into stiff PD joint-position control (400/80).
@@ -35,6 +36,9 @@ Isaac Lab. Actions are the **native DROID joint-position** command (7 absolute a
 
 | task | demos |
 |------|-------|
+| `pick up the large gear and mesh it onto its shaft` | 4 |
+| `pick up the medium gear and mesh it onto its shaft` | 4 |
+| `pick up the small gear and mesh it onto its shaft` | 4 |
 | `pick up the 12 mm round peg and insert it into the hole` | 4 |
 | `pick up the 12 mm round peg and insert it into the hole` | 4 |
 | `pick up the 16 mm round peg and insert it into the hole` | 4 |