Datasets:

RobotisAI
/

evButtonPush-260422-01-hdf5

Call-button pressing demonstrations for OMY (6-DoF arm + 2-finger gripper) in Isaac Lab, collected with a scripted IK teacher (distance-threshold based).

Summary

Task: RobotisLab-CallButton-Right-OMY-v0
Robot: OMY on a 0.908 m pedestal
Demos: 46 (all successful, no failures)
Format: IsaacLab HDF5 (ActionStateRecorderManagerCfg)
Collection dates: 2026-04-22 ~ 2026-04-23
Total size: ~89 GB

Environment

Task ID: RobotisLab-CallButton-Right-OMY-v0
Elevator USD: random choice from 100 variants (elevator_setup_new)
Robot randomization: standoff ∈ (0.55, 0.65), lateral ∈ (−0.05, 0.05), yaw=0
Gripper: always closed (stiffness 2e6, effort limit 5000)
Pedestal height: 0.908 m

Cameras (all 1920×1200 RGB)

Name	Prim path	Frame	Position (m)	Quat (w,x,y,z)
`cam_wrist`	`Robot/OMY/link6/cam_wrist`	link6 (local)	(0.000, −0.080, 0.070)	(0.0018, −0.0018, 0.7071, 0.7071)
`cam_top`	`Robot/OMY/world/cam_top`	robot base	(0.000233, 0.1499, 0.43953)	(0.5144, 0.4146, −0.5064, −0.5542)
`cam_belly`	`Robot/OMY/world/cam_belly`	robot base	(0.08705, 0.1499, 0.1075)	(−0.4901, −0.5097, 0.5097, 0.4901)

All use Pinhole: focal 10~11.8 mm, horizontal aperture 20.955, clip (0.01, 100).

Teacher (distance-based success)

Script: diffik_teacher_jointpos.py (older version, no force-contact)
Success criterion: min_distance ≤ contact_threshold (0.05 m)
No elevator door interaction, no LED observation

CLI parameters

--approach-steps 100
--press-steps 400      (earlier batches used 300)
--stall-steps 15
--contact-threshold 0.050
--hold-steps 30
--return-steps 150
--press-depth 0.010    (or 0.015 for some)

Z-offset subsets

Teacher was iteratively tuned — pressing height shifted over three batches:

Z offset	Seeds	Count	Note
0.00 m	00–32, 43, 44	35	Original teacher, press target at button center (user deemed ~1 cm too low)
+0.01 m	50–54	5	Mid-batch adjustment, still ~1 cm low
+0.04 m	55–60	6	Teacher `button_base[2] += 0.04` hack, pressed 4 cm higher

Missing seeds (33–42, 45–49, 61–64) were interrupted or skipped.

Recording contents (per HDF5)

Each demo_XX.hdf5 contains a single data/demo_0 group with:

actions, processed_actions
obs/cam_wrist, obs/cam_top, obs/cam_belly (uint8 RGB)
obs/joint_pos, obs/joint_vel, obs/actions
obs/call_button_pos, obs/rel_ee_call_button_distance
states/articulation/robot/*, states/rigid_object/pedestal/*
initial_state/*

No call_button_lit or force observations (those are in v02 dataset).

Files

demo_XX.hdf5 — per-episode recording
demo_XX.log — teacher stdout (includes [SETUP], approach/press step traces, [RESULT])
summary.log — one-line per-demo result
metadata.csv — structured per-demo metadata

Known limitations

Heterogeneous press target height (3 Z offsets) — inconsistent for end-to-end imitation
No physical contact detection; pressing success judged only by distance
No elevator door / LED state — pure static-scene press
Recommended use: baseline / ablation. For interaction learning, see evButtonPush-260423-02-isaaclab (v02).