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env_assembly_bench

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Initial EnvHub package: assembly_bench for Isaac Lab Arena

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  1. .gitattributes +40 -0
  2. .gitignore +5 -0
  3. README.md +111 -0
  4. __pycache__/env.cpython-312.pyc +0 -0
  5. assembly_bench/__init__.py +0 -0
  6. assembly_bench/__pycache__/__init__.cpython-312.pyc +0 -0
  7. assembly_bench/assets/backgrounds/indoors/machine_shop_01_2k.hdr +3 -0
  8. assembly_bench/assets/parts/factory_bolt_m12_loose.usd +3 -0
  9. assembly_bench/assets/parts/factory_bolt_m12_tight.usd +3 -0
  10. assembly_bench/assets/parts/factory_bolt_m16_loose.usd +3 -0
  11. assembly_bench/assets/parts/factory_bolt_m16_tight.usd +3 -0
  12. assembly_bench/assets/parts/factory_bolt_m20_loose.usd +3 -0
  13. assembly_bench/assets/parts/factory_bolt_m20_tight.usd +3 -0
  14. assembly_bench/assets/parts/factory_bolt_m8_loose.usd +3 -0
  15. assembly_bench/assets/parts/factory_bolt_m8_tight.usd +3 -0
  16. assembly_bench/assets/parts/factory_nut_m12_loose.usd +3 -0
  17. assembly_bench/assets/parts/factory_nut_m12_tight.usd +3 -0
  18. assembly_bench/assets/parts/factory_nut_m16_loose.usd +3 -0
  19. assembly_bench/assets/parts/factory_nut_m16_tight.usd +3 -0
  20. assembly_bench/assets/parts/factory_nut_m20_loose.usd +3 -0
  21. assembly_bench/assets/parts/factory_nut_m20_tight.usd +3 -0
  22. assembly_bench/assets/parts/factory_nut_m8_loose.usd +3 -0
  23. assembly_bench/assets/parts/factory_nut_m8_tight.usd +3 -0
  24. assembly_bench/assets/parts/gen_bolt_m12_loose.usd +3 -0
  25. assembly_bench/assets/parts/gen_bolt_m12_tight.usd +3 -0
  26. assembly_bench/assets/parts/gen_bolt_m16_loose.usd +3 -0
  27. assembly_bench/assets/parts/gen_bolt_m16_tight.usd +3 -0
  28. assembly_bench/assets/parts/gen_bolt_m20_loose.usd +3 -0
  29. assembly_bench/assets/parts/gen_bolt_m20_tight.usd +3 -0
  30. assembly_bench/assets/parts/gen_bolt_m4_loose.usd +3 -0
  31. assembly_bench/assets/parts/gen_bolt_m4_tight.usd +3 -0
  32. assembly_bench/assets/parts/gen_bolt_m8_loose.usd +3 -0
  33. assembly_bench/assets/parts/gen_bolt_m8_tight.usd +3 -0
  34. assembly_bench/assets/parts/gen_gear_large.usd +3 -0
  35. assembly_bench/assets/parts/gen_gear_medium.usd +3 -0
  36. assembly_bench/assets/parts/gen_gear_small.usd +3 -0
  37. assembly_bench/assets/parts/gen_nut_m12_loose.usd +3 -0
  38. assembly_bench/assets/parts/gen_nut_m12_tight.usd +3 -0
  39. assembly_bench/assets/parts/gen_nut_m16_loose.usd +3 -0
  40. assembly_bench/assets/parts/gen_nut_m16_tight.usd +3 -0
  41. assembly_bench/assets/parts/gen_nut_m20_loose.usd +3 -0
  42. assembly_bench/assets/parts/gen_nut_m20_tight.usd +3 -0
  43. assembly_bench/assets/parts/gen_nut_m4_loose.usd +3 -0
  44. assembly_bench/assets/parts/gen_nut_m4_tight.usd +3 -0
  45. assembly_bench/assets/parts/gen_nut_m8_loose.usd +3 -0
  46. assembly_bench/assets/parts/gen_nut_m8_tight.usd +3 -0
  47. assembly_bench/assets/parts/gen_rect_hole_12mm.usd +0 -0
  48. assembly_bench/assets/parts/gen_rect_hole_16mm.usd +0 -0
  49. assembly_bench/assets/parts/gen_rect_hole_4mm.usd +0 -0
  50. assembly_bench/assets/parts/gen_rect_hole_8mm.usd +0 -0
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.gitignore ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
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+ __pycache__/
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+ *.egg-info/
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+ .venv/
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+ *.etli
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+ .cache/
README.md ADDED
@@ -0,0 +1,111 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ # env-assembly-bench
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+
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+ [EnvHub](https://huggingface.co/docs/lerobot/en/envhub) package for the NIST
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+ taskboard **assembly** benchmark on
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+ [Isaac Lab Arena](https://github.com/isaac-sim/IsaacLab-Arena).
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+
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+ Load with one line (executes Hub code — pin a commit in production):
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+
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+ ```python
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+ from lerobot.envs import make_env
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+ from lerobot.envs.configs import IsaaclabArenaEnv
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+
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+ cfg = IsaaclabArenaEnv(
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+ hub_path="lukasskellijs/env_assembly_bench",
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+ environment="assembly_bench",
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+ embodiment="droid_abs_joint_pos_softmimic",
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+ headless=True,
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+ enable_cameras=True,
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+ state_keys="joint_pos,gripper_pos,eef_pos,eef_quat",
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+ camera_keys="front_cam_rgb,wrist_camera_rgb",
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+ state_dim=15,
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+ action_dim=8,
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+ enable_pinocchio=False,
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+ kwargs={"variant": "peg_round_M1_loose", "reward": "none"},
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+ )
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+ suites = make_env(cfg, n_envs=1, trust_remote_code=True)
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+ env = next(iter(next(iter(suites.values())).values()))
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+ ```
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+
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+ `cfg.task` is the natural-language prompt (LeRobot convention). The Arena
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+ variant id is `kwargs.variant` (for example `peg_round_M1_loose`).
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+
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+ ## Prerequisites
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+
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+ Same stack as [Isaac Lab Arena + EnvHub](https://huggingface.co/docs/lerobot/en/envhub_isaaclab_arena):
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+
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+ - NVIDIA GPU, Isaac Sim 6.x, Isaac Lab + Isaac Lab Arena installed locally
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+ - `pip install -r requirements.txt` (Hub glue only)
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+ - Optional: `pip install -e .` so `assembly_bench` imports without a Hub snapshot
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+
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+ EULA (once per shell):
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+
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+ ```bash
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+ export ACCEPT_EULA=Y PRIVACY_CONSENT=Y OMNI_KIT_ACCEPT_EULA=YES
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+ ```
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+
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+ ## Variants
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+
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+ 15 loose-clearance tasks plus `debug` (apple→bowl). Peg sizes use suite codes
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+ `S/M1/M2/L` (4/8/12/16 mm):
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+
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+ | family | examples |
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+ |---|---|
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+ | peg insert | `peg_round_M1_loose`, `peg_square_L_loose` |
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+ | gear mesh | `gear_small`, `gear_medium`, `gear_large` |
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+ | nut thread | `nut_M8`, `nut_M12`, `nut_M16`, `nut_M20` |
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+
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+ Default embodiment: `droid_abs_joint_pos_softmimic` (Franka + Robotiq, 8-D
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+ absolute joint targets, DROID cameras).
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+
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+ ## LeRobot eval
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+
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+ ```bash
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+ lerobot-eval \
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+ --env.type=isaaclab_arena \
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+ --env.hub_path=lukasskellijs/env_assembly_bench \
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+ --env.environment=assembly_bench \
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+ --env.embodiment=droid_abs_joint_pos_softmimic \
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+ --env.headless=true \
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+ --env.enable_cameras=true \
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+ --env.state_keys=joint_pos,gripper_pos,eef_pos,eef_quat \
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+ --env.camera_keys=front_cam_rgb,wrist_camera_rgb \
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+ --env.state_dim=15 \
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+ --env.action_dim=8 \
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+ --env.enable_pinocchio=false \
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+ --env.kwargs='{"variant": "peg_round_M1_loose"}' \
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+ --trust_remote_code=True \
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+ --eval.batch_size=1 \
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+ --policy.path=<your-policy>
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+ ```
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+
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+ ## HUD
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+
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+ [`hud_env.py`](hud_env.py) is the standard HUD robot entry: it snapshot-downloads
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+ this Hub repo, calls `env.py:make_env`, and exposes the sim via `env.gym(...)`.
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+
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+ ```bash
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+ OMNI_KIT_ACCEPT_EULA=YES ACCEPT_EULA=Y PRIVACY_CONSENT=Y \
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+ python -m hud.environment.server hud_env.py --port 8765
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+ ```
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+
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+ Point a `RobotAgent` / `Runtime("tcp://127.0.0.1:8765")` at that port as in the
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+ [HUD robots guide](https://hud.ai).
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+
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+ ## Layout
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+
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+ ```
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+ env_assembly_bench/
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+ ├── env.py # EnvHub make_env
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+ ├── hud_env.py # HUD Environment (Hub download path)
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+ ├── isaaclab_env_wrapper.py
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+ ├── example_envs.yaml
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+ ├── contract.json # HUD obs/action contract
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+ └── assembly_bench/ # Arena package + USD/HDR assets
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+ ```
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+
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+ ## Security
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+
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+ `trust_remote_code=True` runs Hub Python. Review `env.py`, pin
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+ `lukasskellijs/env_assembly_bench@<commit>`, and prefer this org only if you
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+ trust it.
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