Upload README.md with huggingface_hub

README.md

@@ -0,0 +1,88 @@
+---
+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