├── .gitattributes ├── LICENSE ├── README.md ├── camera_mount ├── obj │ ├── camera_mount.mtl │ └── camera_mount.obj └── stl │ └── camera_mount.stl ├── electrical_connectors ├── obj │ ├── nema_2-prong_plug_tray.mtl │ ├── nema_2-prong_plug_tray.obj │ ├── nema_2-prong_socket_tray.mtl │ ├── nema_2-prong_socket_tray.obj │ ├── nema_3-prong_plug_tray.mtl │ ├── nema_3-prong_plug_tray.obj │ ├── nema_3-prong_socket_tray.mtl │ ├── nema_3-prong_socket_tray.obj │ ├── nema_3-prong_socket_tray_lip.mtl │ └── nema_3-prong_socket_tray_lip.obj └── stl │ ├── nema_2-prong_plug_tray.stl │ ├── nema_2-prong_socket_tray.stl │ ├── nema_3-prong_plug_tray.stl │ ├── nema_3-prong_socket_tray.stl │ └── nema_3-prong_socket_tray_lip.stl ├── finger_mold ├── obj │ ├── finger_mold_base.mtl │ ├── finger_mold_base.obj │ ├── finger_mold_rubber.mtl │ └── finger_mold_rubber.obj └── stl │ ├── finger_mold_base.stl │ └── finger_mold_cap.stl ├── gears ├── obj │ ├── gear_base.mtl │ ├── gear_base.obj │ ├── gear_large.mtl │ ├── gear_large.obj │ ├── gear_medium.mtl │ ├── gear_medium.obj │ ├── gear_small.mtl │ └── gear_small.obj └── stl │ ├── gear_base.stl │ ├── gear_large.stl │ ├── gear_medium.stl │ └── gear_small.stl ├── industrealkit.jpg └── pegs_and_holes ├── obj ├── hole_rect_12mm.mtl ├── hole_rect_12mm.obj ├── hole_rect_16mm.mtl ├── hole_rect_16mm.obj ├── hole_rect_8mm.mtl ├── hole_rect_8mm.obj ├── hole_round_12mm.mtl ├── hole_round_12mm.obj ├── hole_round_16mm.mtl ├── hole_round_16mm.obj ├── hole_round_8mm.mtl ├── hole_round_8mm.obj ├── peg_tray_rect_12mm.mtl ├── peg_tray_rect_12mm.obj ├── peg_tray_rect_16mm.mtl ├── peg_tray_rect_16mm.obj ├── peg_tray_rect_8mm.mtl ├── peg_tray_rect_8mm.obj ├── peg_tray_round_12mm.mtl ├── peg_tray_round_12mm.obj ├── peg_tray_round_16mm.mtl ├── peg_tray_round_16mm.obj ├── peg_tray_round_8mm.mtl └── peg_tray_round_8mm.obj └── stl ├── hole_rect_12mm.stl ├── hole_rect_16mm.stl ├── hole_rect_8mm.stl ├── hole_round_12mm.stl ├── hole_round_16mm.stl ├── hole_round_8mm.stl ├── peg_tray_rect_12mm.stl ├── peg_tray_rect_16mm.stl ├── peg_tray_rect_8mm.stl ├── peg_tray_round_12mm.stl ├── peg_tray_round_16mm.stl └── peg_tray_round_8mm.stl /.gitattributes: -------------------------------------------------------------------------------- 1 | *.stl filter=lfs diff=lfs merge=lfs -text 2 | *.obj filter=lfs diff=lfs merge=lfs -text 3 | *.mtl filter=lfs diff=lfs merge=lfs -text 4 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | NVIDIA License 2 | 3 | 1. Definitions 4 | 5 | “Licensor” means any person or entity that distributes its Work. 6 | “Work” means (a) the original work of authorship made available under this license, which may include software, documentation, or other files, and (b) any additions to or derivative works thereof that are made available under this license. 7 | The terms “reproduce,” “reproduction,” “derivative works,” and “distribution” have the meaning as provided under U.S. copyright law; provided, however, that for the purposes of this license, derivative works shall not include works that remain separable from, or merely link (or bind by name) to the interfaces of, the Work. 8 | Works are “made available” under this license by including in or with the Work either (a) a copyright notice referencing the applicability of this license to the Work, or (b) a copy of this license. 9 | 10 | 2. 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Notwithstanding the foregoing, NVIDIA Corporation and its affiliates may use the Work and any derivative works commercially. As used herein, “non-commercially” means for research or evaluation purposes only. 21 | 22 | 3.4 Patent Claims. If you bring or threaten to bring a patent claim against any Licensor (including any claim, cross-claim or counterclaim in a lawsuit) to enforce any patents that you allege are infringed by any Work, then your rights under this license from such Licensor (including the grant in Section 2.1) will terminate immediately. 23 | 24 | 3.5 Trademarks. This license does not grant any rights to use any Licensor’s or its affiliates’ names, logos, or trademarks, except as necessary to reproduce the notices described in this license. 25 | 26 | 3.6 Termination. If you violate any term of this license, then your rights under this license (including the grant in Section 2.1) will terminate immediately. 27 | 28 | 4. Disclaimer of Warranty. 29 | 30 | THE WORK IS PROVIDED “AS IS” WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES OR CONDITIONS OF 31 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE OR NON-INFRINGEMENT. YOU BEAR THE RISK OF UNDERTAKING ANY ACTIVITIES UNDER THIS LICENSE. 32 | 33 | 5. Limitation of Liability. 34 | 35 | EXCEPT AS PROHIBITED BY APPLICABLE LAW, IN NO EVENT AND UNDER NO LEGAL THEORY, WHETHER IN TORT (INCLUDING NEGLIGENCE), CONTRACT, OR OTHERWISE SHALL ANY LICENSOR BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED TO THIS LICENSE, THE USE OR INABILITY TO USE THE WORK (INCLUDING BUT NOT LIMITED TO LOSS OF GOODWILL, BUSINESS INTERRUPTION, LOST PROFITS OR DATA, COMPUTER FAILURE OR MALFUNCTION, OR ANY OTHER DAMAGES OR LOSSES), EVEN IF THE LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # IndustRealKit 2 | 3 | This repo contains the assets used in [Tang and Lin, et al., "IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality," Robotics: Science and Systems (RSS), 2023](https://arxiv.org/abs/2305.17110). 4 | 5 | IndustRealKit 6 |

7 | 8 | Specifically, this repo contains the following: 9 | - 3D-printable STL files for all 3D-printed parts 10 | - OBJ files for all 3D-printed parts (if you would like to import the assets into your simulator) 11 | - Links to Onshape CAD documents for all 3D-printed parts (if you would like to modify the assets and export your own STL files) 12 | - Purchasing information for all non-3D-printed parts 13 | 14 | The files, documents, and information are organized by assembly type. 15 | 16 | --- 17 | 18 | ## Important Notes 19 | 20 | Please read these notes prior to printing or using the assets. 21 | 22 | ### STL files 23 | The STL files were exported directly from Onshape. We 3D printed these files on an Ultimaker 3 with [MatterHackers PLA filament](https://www.matterhackers.com/store/c/mh-build-series/mh-build-series-pla) at 0.15 mm layer resolution. 24 | 25 | In general, 3D printers do not print features to the exact dimensions specified in STL files (e.g., due to overextrusion), and such deviations may vary from printer to printer. Thus, after printing the parts, we measured the diametral clearance between mating parts for the insertion task (i.e., between pegs and holes, and between gears and gearshafts) using calipers, and we observed a 0.5-0.6 mm clearance between the parts. Higher or lower clearances may have a significant impact on policy performance in the real world; **if you would like to closely reproduce the exact conditions used in the IndustReal paper, you should ensure that your printed parts also have clearances in this range.** To do so, you may have to modify the CAD documents to increase or decrease hole or shaft diameters, such that your printer ultimately achieves the desired clearance. 26 | 27 | ### OBJ files 28 | The OBJ files were exported directly from Onshape for convenience. These are not the exact OBJ files used in the IndustReal policy training code, as those files were post-processed for use with our simulator. To access a subset of those files, please see [IndustRealSim](#related-repos). 29 | 30 | By default, Onshape may tessellate certain surfaces with very few elements or use elements with extreme aspect ratios. When you use these meshes in a simulator, certain contact schemes may be insensitive to mesh quality, whereas others may be sensitive. We simulated physics using SDF-based contacts from [Factory](https://sites.google.com/nvidia.com/factory) in Isaac Gym. This contact scheme offers exceptional performance for contact-rich interactions, but is sensitive to mesh quality; for more information, see the Best Practices and Debugging section of the [Factory documentation](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/docs/factory.md). 31 | 32 | MTL files corresponding to each OBJ file are provided simply to add color during visualization. 33 | 34 | ### CAD documents 35 | There are typically multiple tabs in each Onshape CAD document (i.e., one for each part studio), and each part studio may contain multiple configurations (e.g., for different sizes). If you do not immediately see a particular part, please check the tabs and configurations. 36 | 37 | --- 38 | 39 | ## Assets 40 | - [Peg-and-hole assemblies](#peg-and-hole-assemblies) 41 | - [Electrical connector assemblies](#electrical-connector-assemblies) 42 | - [Gear assembly](#gear-assembly) 43 | - [Optical breadboard](#optical-breadboard) 44 | - [Franka fingers](#franka-fingers) 45 | - [Camera and mount](#camera-and-mount) 46 | - [Lighting](#lighting) 47 | 48 | ### Peg-and-hole assemblies 49 | The pegs are initially located in the peg trays. The robot should remove the pegs from the peg trays and insert the pegs into the holes. 50 | - Round pegs: [Misumi RGOCG8-50 8 mm peg](https://us.misumi-ec.com/vona2/detail/110300229270/?HissuCode=RGOCG8-50) | [Misumi RGOCG12-50 12 mm peg](https://us.misumi-ec.com/vona2/detail/110300229270/?HissuCode=RGOCG12-50) | [Misumi RGOCG16-50 16 mm peg](https://us.misumi-ec.com/vona2/detail/110300229270/?HissuCode=RGOCG16-50) 51 | - Note: These parts were sourced from [NIST Task Board 1](https://www.nist.gov/el/intelligent-systems-division-73500/robotic-grasping-and-manipulation-assembly/assembly) 52 | - Round peg trays: [STL](pegs_and_holes/stl) | [OBJ](pegs_and_holes/obj) | [CAD](https://cad.onshape.com/documents/f557447261af1400663ecb0b/w/46e5f92db7037ba4a7fd83e8/e/1318185e774b27d33c05890f?configuration=List_7iyglZZdunGvla%3D_8mm&renderMode=0&uiState=64c067a4a86d2676af983322) 53 | - Round holes: [STL](pegs_and_holes/stl) | [OBJ](pegs_and_holes/obj) | [CAD](https://cad.onshape.com/documents/f557447261af1400663ecb0b/w/46e5f92db7037ba4a7fd83e8/e/9cdb162bcb704b5caf09be83?configuration=List_7iyglZZdunGvla%3D_8mm&renderMode=0&uiState=64c067d6a86d2676af9833a0) 54 | - Rectangular pegs: [Misumi KET8 8 mm peg](https://us.misumi-ec.com/vona2/detail/110300253950/?HissuCode=KET8) | [Misumi KET12 12 mm peg](https://us.misumi-ec.com/vona2/detail/110300253950/?HissuCode=KET12) | [Misumi KET16 16 mm peg](https://us.misumi-ec.com/vona2/detail/110300253950/?HissuCode=KET16) 55 | - Note: These parts were sourced from [NIST Task Board 1](https://www.nist.gov/el/intelligent-systems-division-73500/robotic-grasping-and-manipulation-assembly/assembly). They are currently only available in a length of 300 mm and must be cut to a length of 50 mm. 56 | - Rectangular peg trays: [STL](pegs_and_holes/stl) | [OBJ](pegs_and_holes/obj) | [CAD](https://cad.onshape.com/documents/f557447261af1400663ecb0b/w/46e5f92db7037ba4a7fd83e8/e/28b8e7f34193d1ce34256852?configuration=List_TguglxgYfxAQPf%3D_8mm_min&renderMode=0&uiState=64c067e2a86d2676af9833ad) 57 | - Rectangular holes: [STL](pegs_and_holes/stl) | [OBJ](pegs_and_holes/obj) | [CAD](https://cad.onshape.com/documents/f557447261af1400663ecb0b/w/46e5f92db7037ba4a7fd83e8/e/a626a3323fb03c1f4fb4d1d4?configuration=List_TguglxgYfxAQPf%3D_8mm_min&renderMode=0&uiState=64c067efa86d2676af9833c0) 58 | 59 | ### Electrical connector assemblies 60 | The plugs are initially located in the plug trays, and the sockets are permanently press-fit into the socket trays. The robot should remove the plugs from the plug trays and insert the plugs into the sockets. 61 | 62 | To install the sockets into the socket trays, we tapped them carefully with a rubber mallet. 63 | 64 | - NEMA 2-prong plug: [Tensility International 16-00241 plug](https://www.digikey.com/en/products/detail/tensility-international-corp/16-00241/12756208) 65 | - NEMA 2-prong plug tray: [STL](electrical_connectors/stl) | [OBJ](electrical_connectors/obj) | [CAD](https://cad.onshape.com/documents/d0894c3735d61c15bb6627d4/w/424e9225ddbc969dd68eb424/e/1977851b937601187a9c0202?renderMode=0&uiState=64c07f157a59111bc7eeedb2) 66 | - NEMA 2-prong socket: [Schurter 4300.0705 socket](https://www.digikey.com/en/products/detail/schurter-inc/4300-0705/2644211) 67 | - NEMA 2-prong socket tray: [STL](electrical_connectors/stl) | [OBJ](electrical_connectors/obj) | [CAD](https://cad.onshape.com/documents/d0894c3735d61c15bb6627d4/w/424e9225ddbc969dd68eb424/e/7c48625ab29dde1839367ed8?renderMode=0&uiState=64c07f217a59111bc7eeede3) 68 | - NEMA 3-prong plug: [Qualtek Q-910 plug](https://www.digikey.com/en/products/detail/qualtek/Q-910/12809841) 69 | - NEMA 3-prong plug tray: [STL](electrical_connectors/stl) | [OBJ](electrical_connectors/obj) | [CAD](https://cad.onshape.com/documents/d0894c3735d61c15bb6627d4/w/424e9225ddbc969dd68eb424/e/71cc010c499858a8b636f5be?renderMode=0&uiState=64c07f497a59111bc7eeee2f) 70 | - NEMA 3-prong socket: [TE Connectivity 3-213598-2 socket](https://www.digikey.com/en/products/detail/te-connectivity-amp-connectors/3-213598-2/1892746) 71 | - NEMA 3-prong socket tray: [STL](electrical_connectors/stl) | [OBJ](electrical_connectors/obj) | [CAD](https://cad.onshape.com/documents/d0894c3735d61c15bb6627d4/w/424e9225ddbc969dd68eb424/e/823d7c59ef90831fc7258bd9?renderMode=0&uiState=64c07f587a59111bc7eeee3b) 72 | - Note: We glued the socket tray lip on top of the socket tray with super glue (i.e., cyanoacrylate) after the socket was installed. 73 | 74 | ### Gear assembly 75 | The gears and gear base are initially located on the work surface. The robot should pick up each gear and insert it onto the corresponding shaft on the gear base. 76 | 77 | These parts are based closely on the gear assembly in [NIST Task Board 1](https://www.nist.gov/el/intelligent-systems-division-73500/robotic-grasping-and-manipulation-assembly/assembly). 78 | 79 | - Small gear: [STL](gears/stl) | [OBJ](gears/obj) | [CAD](https://cad.onshape.com/documents/27b6adf9ac6d2fd277d36e9d/w/5eeb987aaf4ae2b80209542f/e/b98a41f9fee3c8fcc4b823e0?renderMode=0&uiState=64c0706b82880e0f200332be) 80 | - Medium gear: [STL](gears/stl) | [OBJ](gears/obj) | [CAD](https://cad.onshape.com/documents/27b6adf9ac6d2fd277d36e9d/w/5eeb987aaf4ae2b80209542f/e/c8478593b2186b7c2c9764c6?renderMode=0&uiState=64c0706082880e0f200332b0) 81 | - Large gear: [STL](gears/stl) | [OBJ](gears/obj) | [CAD](https://cad.onshape.com/documents/27b6adf9ac6d2fd277d36e9d/w/5eeb987aaf4ae2b80209542f/e/e5883046fcbb15117ae51c2c?renderMode=0&uiState=64c0705282880e0f2003328d) 82 | - Gear base: [STL](gears/stl) | [OBJ](gears/obj) | [CAD](https://cad.onshape.com/documents/27b6adf9ac6d2fd277d36e9d/w/5eeb987aaf4ae2b80209542f/e/431be5d596cc1c7f5bbaf476?renderMode=0&uiState=64c055f3da9e4b6ad4037938) 83 | 84 | ### Optical breadboard 85 | - Breadboard: [Thorlabs MB3045/M aluminum breadboard](https://www.thorlabs.com/thorproduct.cfm?partnumber=MB3045/M) 86 | - Vibration-dampening feet: [Thorlabs AV4/M sorbothane feet](https://www.thorlabs.com/thorproduct.cfm?partnumber=AV4/M) 87 | - Screws: [M6 socket-head screws](https://www.mcmaster.com/products/screws/system-of-measurement~metric/thread-size~m6/alloy-steel-socket-head-screws-8/thread-pitch~1-mm/finish~black-oxide/) 88 | 89 | ### Franka fingers 90 | - Finger mold: [STL](finger_mold/stl) | [OBJ](finger_mold/obj) 91 | - Note: These parts were originally designed by [Karl Van Wyk](https://www.linkedin.com/in/karl-van-wyk-445387105) 92 | - Silicone rubber: [Smooth-On Dragon Skin 30 resin](https://www.smooth-on.com/products/dragon-skin-30/) 93 | 94 | ### Camera and mount 95 | - Camera: [Intel RealSense D435](https://www.intelrealsense.com/depth-camera-d435/) 96 | - Camera mount: [STL](camera_mount/stl) | [OBJ](camera_mount/obj) 97 | - Note: This part was originally designed by [Kenneth MacLean](https://www.linkedin.com/in/kennethmaclean) 98 | 99 | ### Lighting 100 | - Light: [GTX Studio 85W LED](https://gtxproductsgroup.com/index.php?main_page=product_info&products_id=1373) 101 | - Softbox: [Zuma octagonal CFL softbox](https://gtxproductsgroup.com/index.php?main_page=product_info&cPath=98_45&products_id=13) 102 | - Light stand: [Zuma 3-section light stand](https://gtxproductsgroup.com/index.php?main_page=product_info&cPath=11&products_id=11) 103 | 104 | --- 105 | 106 | ## Additional Information 107 | 108 | ### Citing IndustRealKit 109 | If you use any of the IndustRealKit assembly assets in your work, please consider citing the following paper: 110 | ``` 111 | @inproceedings{ 112 | tang2023industreal, 113 | author = {Bingjie Tang and Michael A Lin and Iretiayo Akinola and Ankur Handa and Gaurav S Sukhatme and Fabio Ramos and Dieter Fox and Yashraj Narang}, 114 | title = {IndustReal: Transferring contact-rich assembly tasks from simulation to reality}, 115 | booktitle = {Robotics: Science and Systems}, 116 | year = {2023} 117 | } 118 | ``` 119 | 120 | If you use the Franka fingers or camera mount in your work, please acknowledge Karl Van Wyk or Kenneth MacLean, respectively. 121 | 122 | ### Related repos 123 | - Isaac Gym (simulate robots): [paper](https://arxiv.org/abs/2108.10470) | [website](https://developer.nvidia.com/isaac-gym) | [environments repo](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs) 124 | - Factory (simulate contact-rich interactions in Isaac Gym): [paper](https://arxiv.org/abs/2205.03532) | [website](https://sites.google.com/nvidia.com/factory) | [environments repo](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/tree/main/isaacgymenvs/tasks/factory) 125 | - IndustRealSim (reproduce RL policy training algorithms used in IndustReal): [paper](https://arxiv.org/abs/2305.17110) | [project website](https://sites.google.com/nvidia.com/industreal) | [code](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/tree/main/isaacgymenvs/tasks/industreal) | [shorter docs](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/docs/rl_examples.md#industreal-transferring-contact-rich-simulation-tasks-from-simulation-to-reality) | [longer docs](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/docs/industreal.md) 126 | - IndustRealLib (reproduce RL policy deployment code used in IndustReal): [paper](https://arxiv.org/abs/2305.17110) | [project website](https://sites.google.com/nvidia.com/industreal) | [code](https://github.com/NVLabs/industreallib) 127 | 128 | ### Support 129 | Please create a GitHub issue. 130 | 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