| # evButtonPush-260422-01-isaaclab |
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| Call-button pressing demonstrations for OMY (6-DoF arm + 2-finger gripper) in Isaac Lab, collected with a scripted IK teacher (distance-threshold based). |
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| ## 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 |
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| ## 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 |
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| ## 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) | |
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| All use Pinhole: focal 10~11.8 mm, horizontal aperture 20.955, clip (0.01, 100). |
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| ## 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 |
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| ### 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) |
| ``` |
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| ## Z-offset subsets |
| Teacher was iteratively tuned — pressing height shifted over three batches: |
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| | 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 | |
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| Missing seeds (33–42, 45–49, 61–64) were interrupted or skipped. |
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| ## 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/*` |
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| No `call_button_lit` or force observations (those are in v02 dataset). |
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| ## 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 |
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| ## 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). |
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