introvoyz041/FactoryBench_Generation huggingface dataset:
Task: Pick and Place
Robot picks an object from a source location and places it at a target location (bin).
Phases:
name: Above Pick
description: EEF moves to a waypoint directly above the object.
name: Descend
description: EEF lowers toward the object.
name: Settle
description: Brief hold to let physics settle before grasping.
name: Close
description: Gripper closes around the object.
name: Lift
description: EEF lifts the grasped object off the surface.
name: Move XY
description: Lateral transfer toward the bin.
name: Lower
description: EEF lowers into the bin.
name: Open
description: Gripper opens, object released.
name: Retract
description: EEF moves away from the bin.
name: Return
description: EEF returns to home configuration.
Task: Screwing
Robot tightens a pre-gripped screw into a threaded hole, then loosens and retrieves it.
Phases:
name: Approach
description: EEF moves to a pre-contact waypoint above the fastener.
name: Descend
description: EEF lowers to engage the fastener.
name: Screw
description: Continuous downward force + wrist rotation to thread.
name: Disengage
description: Gripper opens / tool lifts off.
name: Retract
description: EEF returns to a safe height.
name: Descend
description: EEF lowers to engage the fastener.
name: Loosen
description: Loosen screw.
name: Engage
description: Gripper closes.
name: Retract
description: EEF returns to a home position.
Task: Peg in Hole
Robot inserts a pre-gripped peg into a fixture/slot, releases it, then retrieves it and returns home.
Phases:
name: Above Hole
description: EEF moves above the hole and aligns.
name: Insert
description: EEF pushes peg downward into the hole.
name: Disengage
description: Gripper opens.
name: Above Hole
description: EEF rises back to the waypoint above the hole.
name: Retract
description: EEF returns to home position.
name: Above Object
description: EEF moves above the object and aligns with object.
name: Engage
description: Gripper closes.
name: Above Object
description: EEF rises back to the waypoint above the object.
name: Retract
description: EEF returns to home position.