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---
license: apache-2.0
tags:
- robotics
- manipulation
- simulation
- pybullet
---
# A2 Environment Assets
Assets for the A2 tabletop manipulation environment (PyBullet simulation).
## Contents
### 3D Objects
- `simplified_objects/`: 66 simplified YCB objects for training
- `unseen_objects/`: 17 unseen objects for testing
### Robot
- `ur5e/`: UR5e robot URDF and meshes
- `workspace/`: Workspace table and fixtures
### Testing Cases
Pre-defined test scenarios for benchmark evaluation:
- `testing_cases/grasp_testing_cases/`: Grasp task test cases
- `seen/`: 10 cases with training objects
- `unseen/`: 5 cases with test objects
- `testing_cases/place_testing_cases/`: Place task test cases
- `seen/`: 20 cases
- `unseen/`: 10 cases
- `testing_cases/pp_testing_cases/`: Pick-and-place test cases
- `seen/`: 8 cases
- `unseen/`: 4 cases
## Usage
Assets are automatically downloaded when using the A2 environment:
```python
from lerobot.envs.a2 import A2Env
# Assets are downloaded to ~/.cache/a2_assets/
env = A2Env(task="grasp", num_objects=8)
```
### Manual Download
```python
from huggingface_hub import snapshot_download
# Download all assets
snapshot_download(
repo_id="dgrachev/a2_assets",
repo_type="dataset",
local_dir="~/.cache/a2_assets"
)
```
## Test Case Format
Each test case file contains:
- Line 1: Language instruction (e.g., "grasp a round object")
- Line 2: Target object indices (space-separated)
- Lines 3+: Object URDF path and 6D pose (x, y, z, rx, ry, rz)
Example (`case00-round.txt`):
```
grasp a round object
0 1 2
assets/simplified_objects/005.urdf 0.61 0.04 0.2 4.22 0.45 1.39
assets/simplified_objects/012.urdf 0.53 -0.11 0.2 6.15 3.49 5.06
...
```
## Related Resources
- [a2_pretrained](https://huggingface.co/dgrachev/a2_pretrained) - Pretrained A2 policy
- [lerobot_policy_a2](https://github.com/dgrachev/lerobot_policy_a2) - Policy package
- [lerobot_grach0v](https://github.com/grach0v/lerobot) - LeRobot fork with A2 environment
## License
Apache-2.0
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