| --- |
| license: apache-2.0 |
| language: |
| - en |
| - ko |
| tags: |
| - robotics |
| - imitation-learning |
| - isaac-sim |
| - elevator-button |
| - omy-arm |
| - action-chunking-transformer |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # evButtonPush — 30Hz Multi-Camera RGB Demo Set v01 |
|
|
| ## 개요 / Overview |
|
|
| 엘리베이터 콜 버튼 누르기 task에 대한 ROBOTIS OMY 6-DoF 매니퓰레이터 시연 데이터셋. Isaac Sim 5.1 + Isaac Lab 환경에서 scripted teacher (DLS-IK + force-feedback)로 자동 수집. |
|
|
| Imitation learning demo dataset for elevator call button press task using ROBOTIS OMY 6-DoF arm. Collected automatically via scripted teacher (DLS-IK + force-feedback) in Isaac Sim 5.1 + Isaac Lab. |
|
|
| ## 데이터셋 정보 / Dataset Info |
|
|
| | 항목 | 값 | |
| |---|---| |
| | Demos | **40** | |
| | 모두 success=True | ✅ (button_pressed + LED_lit + door_open + home_reached) | |
| | Frames per demo | ~568 (variable) | |
| | Total frames | ~22,720 | |
| | Action/observation rate | **30 Hz** (sim 60 Hz physics, decimation=2) | |
| | Image resolution | **1920 × 1200** | |
| | Cameras | **3 cams**: cam_wrist (link6 mounted), cam_top, cam_belly | |
| | Action space | 7-dim (6 arm joints + 1 binary gripper) | |
| | State obs | qpos, qvel (10), eef_pos (3), eef_quat (4), call_button_pos (3), rel_dist (3), call_button_lit (1), action history | |
| | Total file size | ~31 GB | |
| | Format | Single HDF5 (multi-episode) | |
|
|
| ## HDF5 구조 / Structure |
|
|
| ``` |
| data/ |
| demo_0/ |
| actions (T, 7) 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 |
| eef_pos (T, 3) float32 |
| eef_quat (T, 4) float32 |
| call_button_pos (T, 3) float32 |
| rel_ee_call_button_distance (T, 3) float32 |
| call_button_lit (T, 1) float32 |
| actions (T, 7) float32 |
| initial_state/ (joint_position, root_pose, etc.) |
| states/ (per-step robot/scene physics state) |
| demo_1/ |
| ... |
| demo_39/ |
| ``` |
|
|
| 각 demo 그룹 attrs: `success: True`, `num_samples: T`. |
|
|
| ## Task / 환경 정보 |
|
|
| - **Task**: `RobotisLab-CallButton-Right-OMY-Aux-v0` |
| - **Sim**: Isaac Sim 5.1, Isaac Lab |
| - **Robot**: OMY (6-DoF, RH-P12-RN gripper, 4-finger mimic) |
| - **Scene**: |
| - Pedestal (cube, 0.8m × 0.8m × 0.908m) |
| - Robot mounted on pedestal |
| - Elevator (random USD from 100 variants per episode, hall-side facing) |
| - Call button (CallBtn_0) on right side |
| - **Light**: DomeLight 5600 intensity, randomized per episode |
| - **Robot init**: front-of-button, 55-65cm standoff, ±5cm lateral random, joint randomization (Gaussian, std 0.02 rad) |
| |
| ## 수집 명령어 / Collection Command |
| |
| ```bash |
| # 30 demos (seeds 0-29) |
| /isaac-sim/python.sh scripts/my_codes/diffik_teacher_jointpos_aux.py \ |
| --num-demos 30 --seed 0 --headless --enable_cameras \ |
| --approach-steps 50 --press-steps 200 --stall-steps 10 \ |
| --contact-force-threshold 5.0 --hold-steps 15 \ |
| --return-steps 150 --home-idle-steps 75 --press-depth 0.035 \ |
| --dataset-file demo.hdf5 |
|
|
| # 10 more (seeds 30-39) — same params |
| ``` |
| |
| ## Teacher Phases (per demo) |
| |
| | Phase | Steps (30Hz) | 설명 | |
| |---|---|---| |
| | settle | initial | Gripper close + physics settle | |
| | approach | 50 | Joint-space cubic smoothstep HOME → goal_pre_q (IKPy) | |
| | press | up to 200 | DLS micro-thrust 4mm/step toward button (PUSH_STEP_M=0.004) | |
| | hold | 15 | Dwell after contact | |
| | retract | 150 | Smoothstep back to goal_pre_q | |
| | home_idle | 75 | Hold at HOME | |
| |
| Press validation: gripper finger contact force > 5N triggers FSM button press → LED + door. |
| |
| ## Notes / 비고 |
| |
| - Per-demo **30 Hz action rate** is more realistic for real-world deployment (vs 60 Hz). Total wall-time per demo ~19s. |
| - All 40 demos verified `success=True` (pressed + LED lit + door opened + home reached). |
| - Image dimensions match Isaac Sim camera annotator output (1920 × 1200 PinholeCameraCfg). |
| |
| ## License |
| |
| Apache 2.0 (model + data). |
| |
