---
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