| --- |
| 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 v02 (OMY call-button, contact-force teacher) |
| size_categories: |
| - 10B<n<100B |
| --- |
| |
| # evButtonPush — 260423-01 (v02) |
|
|
| ## 한국어 |
|
|
| **ROBOTIS OMY** 6-DoF 팔이 **NVIDIA Isaac Sim / Isaac Lab** 환경에서 엘리베이터 호출버튼을 누르는 시뮬레이션 데모셋 (v02). 스크립트된 IK teacher로 자동 수집됨. |
|
|
| > 이전 collection (거리 기반 v01) 은 |
| > [`RobotisAI/evButtonPush-260422-01-hdf5`](https://huggingface.co/datasets/RobotisAI/evButtonPush-260422-01-hdf5) |
| > 에서 받을 수 있습니다 (baseline / ablation 용). |
|
|
| ### v02 특성 (권장) |
| - **45 demos**, seed `0`~`44`, 전부 pressed=True |
| - 약 35초/ep, ~1050 프레임 @ 30fps |
| - 성공 판정: **물리 접촉 힘 ≥ 0.5 N** (PhysX `tip_contact` sensor) |
| - 엘베 **문 FSM**: `state 0 (대기) → 1 (눌림, LED on) → 2 (문 여는 중) → 3 (완전 개방)` |
| - 평균 접촉 힘 피크: 60~80 N |
| - Press 목표 Z offset: `button_base` 기준 **+0.11 m** 고정 |
| - `call_button_lit` LED 관찰 포함 |
| - Teacher CLI: |
| ``` |
| --approach-steps 100 --press-steps 400 |
| --stall-steps 20 --hold-steps 30 |
| --return-steps 300 --home-idle-steps 150 |
| --press-depth 0.035 --contact-force-threshold 0.5 |
| ``` |
|
|
| ### 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° |
| |
| ### 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 |
| │ └── call_button_lit (T, 1) bool ⭐ LED on/off |
| ├── states/articulation/robot/... |
| ├── states/rigid_object/pedestal/... |
| └── initial_state/... |
| ``` |
|
|
| ### 파일 구성 |
| - `demo_XX.hdf5` - episode 하나당 파일 하나 |
| - `demo_XX.log` - teacher stdout (`[SETUP]`, `[PHASE]`, `[PRESSED]`, `[RESULT]` 마커) |
| - `summary.log` - demo당 한 줄 요약 |
|
|
| ### 추천 사용 방법 |
| Imitation learning (ACT, Diffusion Policy, BC) 학습 시 `qpos_dim = 8`: |
| ```python |
| qpos = concat(joint_pos[:6], gripper_closed_flag, call_button_lit) # 8 |
| action = [arm_delta[:6], gripper_cmd] # 7 |
| images = {cam_wrist, cam_top, cam_belly} # 1920×1200 (필요시 resize) |
| ``` |
|
|
| 일반적으로 학습 파이프라인에서는 **240×320으로 resize**해서 씁니다. 원본은 1920×1200으로 보존. |
|
|
| --- |
|
|
| ## 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 is the **v02** collection — improved over v01 with |
| physics-based success detection and elevator-door FSM. |
|
|
| > The earlier v01 collection (distance-based teacher, baseline only) is at |
| > [`RobotisAI/evButtonPush-260422-01-hdf5`](https://huggingface.co/datasets/RobotisAI/evButtonPush-260422-01-hdf5). |
|
|
| ### v02 highlights (recommended for training) |
|
|
| - **45 demos**, seeds `0` – `44`, all pressed = True |
| - ~35 s per episode, ~1050 frames at 30 fps |
| - Success criterion: **physical contact force ≥ 0.5 N** (PhysX `tip_contact` sensor) |
| - Elevator **door FSM** progresses on press: |
| `state 0 (idle) → 1 (pressed / LED on) → 2 (door opening, progress 0→1) → 3 (open)` |
| - Average peak gripper tip contact force: 60 – 80 N |
| - Press target Z offset: `+0.11 m` relative to `button_base` (fixed inside teacher). |
| - Includes `call_button_lit` LED observation. |
| - Teacher CLI: |
| ``` |
| --approach-steps 100 --press-steps 400 |
| --stall-steps 20 --hold-steps 30 |
| --return-steps 300 --home-idle-steps 150 |
| --press-depth 0.035 --contact-force-threshold 0.5 |
| ``` |
|
|
| ### 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° |
|
|
| ### 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 |
| │ └── call_button_lit (T, 1) bool ⭐ LED state |
| ├── states/articulation/robot/... |
| ├── states/rigid_object/pedestal/... |
| └── initial_state/... |
| ``` |
|
|
| ### Per-version files |
|
|
| - `demo_XX.hdf5` — one episode per file |
| - `demo_XX.log` — scripted-teacher stdout with `[SETUP]`, `[PHASE]`, `[PRESSED]`, `[RESULT]` markers |
| - `summary.log` — one line per demo |
|
|
| ### Suggested usage |
|
|
| Imitation learning (ACT, Diffusion Policy, BC) with `qpos_dim = 8`: |
|
|
| ```python |
| qpos = concat(joint_pos[:6], gripper_closed_flag, call_button_lit) # 8 |
| action = [arm_delta[:6], gripper_cmd] # 7 |
| images = {cam_wrist, cam_top, cam_belly} # 1920×1200 (resize as needed) |
| ``` |
|
|
| For efficiency, training pipelines commonly resize to 240 × 320 before |
| consumption. We retain the original 1920 × 1200 to keep the data lossless. |
|
|
