Datasets:

dgrachev
/

a2_assets

text string
grasp a round object
1 2
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assets/simplified_objects/043.urdf 3.800912993335492374e-01 1.184893889202723871e-01 2.000000000000000111e-01 7.206671128385995218e-01 2.896131989175971810e+00 7.042193186533112215e-01
get something to eat
0 1 2
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get something to hold other things
1
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I want a round object
0 1 2
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give me the cup
0
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I need a cup
0
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End of preview. Expand in Data Studio

A2 Environment Assets

Assets for the A2 tabletop manipulation environment (PyBullet simulation).

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:

from lerobot.envs.a2 import A2Env

# Assets are downloaded to ~/.cache/a2_assets/
env = A2Env(task="grasp", num_objects=8)

Manual Download

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
...