# InsertAnything Evaluated in Isaac Lab for Precision Peg-in-Hole Insertion Policies with Fingertip Force Feedback

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/rtqfl3ujgivol3ipfs9cgg8w3
- Original: https://www.guyuehome.com/detail?id=2106562702873751554

## Summary

Official weights of InsertAnything's force-conditioned insertion policy were evaluated in Isaac Lab: at 0.1 mm clearance, baseline success rates for two hole types were 96–100%. With a 5 mm initial hand offset, success rates were unaffected, but with a 3 mm hole-position observation deviation, the hexagonal hole success rate dropped to 60%.