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 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+aux_30hz_v01_40demos.hdf5 filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+license: apache-2.0
+language:
+- en
+- ko
+tags:
+- robotics
+- imitation-learning
+- isaac-sim
+- elevator-button
+- omy-arm
+- action-chunking-transformer
+size_categories:
+- 10K<n<100K
+---
+
+# evButtonPush — 30Hz Multi-Camera RGB Demo Set v01
+
+## 개요 / Overview
+
+엘리베이터 콜 버튼 누르기 task에 대한 ROBOTIS OMY 6-DoF 매니퓰레이터 시연 데이터셋. Isaac Sim 5.1 + Isaac Lab 환경에서 scripted teacher (DLS-IK + force-feedback)로 자동 수집.
+
+Imitation learning demo dataset for elevator call button press task using ROBOTIS OMY 6-DoF arm. Collected automatically via scripted teacher (DLS-IK + force-feedback) in Isaac Sim 5.1 + Isaac Lab.
+
+## 데이터셋 정보 / Dataset Info
+
+| 항목 | 값 |
+|---|---|
+| Demos | **40** |
+| 모두 success=True | ✅ (button_pressed + LED_lit + door_open + home_reached) |
+| Frames per demo | ~568 (variable) |
+| Total frames | ~22,720 |
+| Action/observation rate | **30 Hz** (sim 60 Hz physics, decimation=2) |
+| Image resolution | **1920 × 1200** |
+| Cameras | **3 cams**: cam_wrist (link6 mounted), cam_top, cam_belly |
+| Action space | 7-dim (6 arm joints + 1 binary gripper) |
+| State obs | qpos, qvel (10), eef_pos (3), eef_quat (4), call_button_pos (3), rel_dist (3), call_button_lit (1), action history |
+| Total file size | ~31 GB |
+| Format | Single HDF5 (multi-episode) |
+
+## HDF5 구조 / Structure
+
+```
+data/
+  demo_0/
+    actions (T, 7) float32
+    obs/
+      cam_wrist (T, 1200, 1920, 3) uint8
+      cam_top (T, 1200, 1920, 3) uint8
+      cam_belly (T, 1200, 1920, 3) uint8
+      joint_pos (T, 10) float32
+      joint_vel (T, 10) float32
+      eef_pos (T, 3) float32
+      eef_quat (T, 4) float32
+      call_button_pos (T, 3) float32
+      rel_ee_call_button_distance (T, 3) float32
+      call_button_lit (T, 1) float32
+      actions (T, 7) float32
+    initial_state/  (joint_position, root_pose, etc.)
+    states/         (per-step robot/scene physics state)
+  demo_1/
+  ...
+  demo_39/
+```
+
+각 demo 그룹 attrs: `success: True`, `num_samples: T`.
+
+## Task / 환경 정보
+
+- **Task**: `RobotisLab-CallButton-Right-OMY-Aux-v0`
+- **Sim**: Isaac Sim 5.1, Isaac Lab
+- **Robot**: OMY (6-DoF, RH-P12-RN gripper, 4-finger mimic)
+- **Scene**:
+  - Pedestal (cube, 0.8m × 0.8m × 0.908m)
+  - Robot mounted on pedestal
+  - Elevator (random USD from 100 variants per episode, hall-side facing)
+  - Call button (CallBtn_0) on right side
+- **Light**: DomeLight 5600 intensity, randomized per episode
+- **Robot init**: front-of-button, 55-65cm standoff, ±5cm lateral random, joint randomization (Gaussian, std 0.02 rad)
+
+## 수집 명령어 / Collection Command
+
+```bash
+# 30 demos (seeds 0-29)
+/isaac-sim/python.sh scripts/my_codes/diffik_teacher_jointpos_aux.py \
+  --num-demos 30 --seed 0 --headless --enable_cameras \
+  --approach-steps 50 --press-steps 200 --stall-steps 10 \
+  --contact-force-threshold 5.0 --hold-steps 15 \
+  --return-steps 150 --home-idle-steps 75 --press-depth 0.035 \
+  --dataset-file demo.hdf5
+
+# 10 more (seeds 30-39) — same params
+```
+
+## Teacher Phases (per demo)
+
+| Phase | Steps (30Hz) | 설명 |
+|---|---|---|
+| settle | initial | Gripper close + physics settle |
+| approach | 50 | Joint-space cubic smoothstep HOME → goal_pre_q (IKPy) |
+| press | up to 200 | DLS micro-thrust 4mm/step toward button (PUSH_STEP_M=0.004) |
+| hold | 15 | Dwell after contact |
+| retract | 150 | Smoothstep back to goal_pre_q |
+| home_idle | 75 | Hold at HOME |
+
+Press validation: gripper finger contact force > 5N triggers FSM button press → LED + door.
+
+## Notes / 비고
+
+- Per-demo **30 Hz action rate** is more realistic for real-world deployment (vs 60 Hz). Total wall-time per demo ~19s.
+- All 40 demos verified `success=True` (pressed + LED lit + door opened + home reached).
+- Image dimensions match Isaac Sim camera annotator output (1920 × 1200 PinholeCameraCfg).
+
+## License
+
+Apache 2.0 (model + data).

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