README.md

---
license: apache-2.0
task_categories:
  - robotics
tags:
  - robotics
  - manipulation
  - imitation-learning
  - elevator-button-press
  - isaac-sim
  - isaac-lab
  - omy
pretty_name: ev Button Push v01 (OMY call-button, Isaac Lab)
size_categories:
  - 10B<n<100B
---

# 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`](https://huggingface.co/datasets/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`](https://huggingface.co/datasets/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