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