RobotisAI/evButtonPush-260422-01-hdf5

evButtonPush — 260422-01 (v01)

한국어

ROBOTIS OMY 6-DoF 팔이 NVIDIA Isaac Sim / Isaac Lab 환경에서 엘리베이터 호출버튼을 누르는 시뮬레이션 데모셋 (v01). 스크립트된 IK teacher로 자동 수집됨.

v02 (개선된 contact-force 기반 teacher + 엘베 문 FSM 포함)는 RobotisAI/evButtonPush-260423-01-hdf5 에서 받을 수 있습니다.

Task

• Task ID (Isaac Lab): RobotisLab-CallButton-Right-OMY-v0
• 로봇: ROBOTIS OMY (6축 팔 + 2지 그리퍼)
• Pedestal 높이: 0.908 m, 그리퍼 항상 닫힘 (stiffness 2×10⁶, effort 5000)
• 엘리베이터 USD: 100종 variants 중 seed별 random_choice (elevator_setup_new)
• 로봇 초기 자세 랜덤 (seed별):
  • 버튼까지 거리(standoff): 0.55 ~ 0.65 m
  • 좌우 lateral: −0.05 ~ 0.05 m
  • yaw: 0°

v01 특성

• 46 demos, seed 00~60 사이
• 거리 기반 (threshold 0.050 m) 성공 판정, 접촉 감지 없음
• call_button_lit 관찰 없음, 엘베 문 안 열림
• baseline / ablation 참조용

카메라

3대 모두 RGB, 1920 × 1200, Pinhole:

• 수평 aperture 20.955 mm
• 수직 aperture 13.097 mm (16:10 비율로 자동 계산)
• clipping (0.01, 100) m

이름	prim_path	기준 Frame	위치 (m)	Quat (w, x, y, z)	FOV (H / V / D)	focal
cam_wrist	Robot/OMY/link6/cam_wrist	link6 (팔과 함께 이동)	(0.000, −0.080, 0.070)	(0.0018, −0.0018, 0.7071, 0.7071)	83.21° / 58.06° / 92.64°	11.8 mm
cam_top	Robot/OMY/world/cam_top	로봇 base	(0.000233, 0.1499, 0.43953)	(0.5144, 0.4146, −0.5064, −0.5542)	92.67° / 66.44° / 102.03°	10.0 mm
cam_belly	Robot/OMY/world/cam_belly	로봇 base	(0.08705, 0.1499, 0.1075)	(−0.4901, −0.5097, 0.5097, 0.4901)	92.67° / 66.44° / 102.03°	10.0 mm

OMY USD 내부의 world prim은 시뮬레이션 월드가 아니라 **로봇 base (link0)**를 가리킴.

world_pose(cam_top)   = robot.root_pose_w ⊙ offset_cam_top
world_pose(cam_wrist) = robot.root_pose_w ⊙ FK(link0→link6) ⊙ offset_cam_wrist

HDF5 내부 구조 (episode 당)

data/demo_0/
├── actions              (T, 7)    float32   arm 6 + gripper 1
├── processed_actions    (T, 10)   float32   전체 joint target
├── obs/
│   ├── cam_wrist        (T, 1200, 1920, 3)   uint8
│   ├── cam_top          (T, 1200, 1920, 3)   uint8
│   ├── cam_belly        (T, 1200, 1920, 3)   uint8
│   ├── joint_pos                (T, 10)     float32
│   ├── joint_vel                (T, 10)     float32
│   ├── call_button_pos          (T, 3)      float32   버튼 world 좌표
│   └── rel_ee_call_button_distance (T, 3)   float32   tip-button 벡터
├── states/articulation/robot/...
├── states/rigid_object/pedestal/...
└── initial_state/...

파일 구성 (v01/ 폴더 내)

• demo_XX.hdf5 - episode 하나당 파일 하나
• demo_XX.log - teacher stdout ([SETUP], [PHASE], [RESULT] 마커)
• summary.log - demo당 한 줄 요약
• metadata.csv - seed, z_offset_m, size_bytes, pressed, min_distance_m, teacher_version
• README.md - 버전별 상세 문서

---

English

Simulated demonstrations of a ROBOTIS OMY 6-DoF arm pressing an elevator call-button, collected in NVIDIA Isaac Sim / Isaac Lab with a scripted IK teacher. This dataset contains the v01 collection only.

The improved v02 collection (contact-force teacher with elevator door FSM, call_button_lit observation) lives at RobotisAI/evButtonPush-260423-01-hdf5.

Task

• Task ID (Isaac Lab): RobotisLab-CallButton-Right-OMY-v0
• Robot: ROBOTIS OMY (6-DoF arm + 2-finger gripper)
• Pedestal: 0.908 m, gripper always closed (stiffness 2 × 10⁶, effort 5000)
• Elevator USD: random choice from 100 variants (elevator_setup_new)
• Robot initial pose randomization (per-seed):
  • standoff distance to button: 0.55 ~ 0.65 m
  • lateral offset: −0.05 ~ 0.05 m
  • yaw: 0°

v01 properties

• 46 demos, seeds span 0–60
• Older teacher that judged success purely by tip-to-button distance (threshold 0.050 m) — no physical contact check
• No call_button_lit observation, no elevator door motion.
• Use as a baseline / ablation reference.

Cameras

All three cameras record RGB, 1920 × 1200, Pinhole:

• horizontal aperture 20.955 mm
• vertical aperture 13.097 mm (derived from 16:10 aspect)
• clipping (0.01, 100) m

Name	Prim path	Frame	Position (m)	Quat (w, x, y, z)	FOV (H / V / D)	focal
cam_wrist	Robot/OMY/link6/cam_wrist	link6 (local, moves with arm)	(0.000, −0.080, 0.070)	(0.0018, −0.0018, 0.7071, 0.7071)	83.21° / 58.06° / 92.64°	11.8 mm
cam_top	Robot/OMY/world/cam_top	robot base	(0.000233, 0.1499, 0.43953)	(0.5144, 0.4146, −0.5064, −0.5542)	92.67° / 66.44° / 102.03°	10.0 mm
cam_belly	Robot/OMY/world/cam_belly	robot base	(0.08705, 0.1499, 0.1075)	(−0.4901, −0.5097, 0.5097, 0.4901)	92.67° / 66.44° / 102.03°	10.0 mm

The world prim inside the OMY USD refers to the robot's base frame (link0), not the simulation world.

world_pose(cam_top)    = robot.root_pose_w  ⊙  offset_cam_top
world_pose(cam_wrist)  = robot.root_pose_w  ⊙  FK(link0→link6)  ⊙  offset_cam_wrist

HDF5 layout per episode

data/demo_0/
├── actions              (T, 7)    float32
├── processed_actions    (T, 10)   float32
├── obs/
│   ├── cam_wrist        (T, 1200, 1920, 3)   uint8
│   ├── cam_top          (T, 1200, 1920, 3)   uint8
│   ├── cam_belly        (T, 1200, 1920, 3)   uint8
│   ├── joint_pos                (T, 10)     float32
│   ├── joint_vel                (T, 10)     float32
│   ├── call_button_pos          (T, 3)      float32
│   └── rel_ee_call_button_distance (T, 3)   float32
├── states/articulation/robot/...
├── states/rigid_object/pedestal/...
└── initial_state/...

Per-version files

v01/ directory contains:

• demo_XX.hdf5 — one episode per file
• demo_XX.log — scripted-teacher stdout with [SETUP], [PHASE], [RESULT] markers
• summary.log — one line per demo
• metadata.csv — seed, z_offset_m, size_bytes, pressed, min_distance_m, teacher_version
• README.md — version-specific notes