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license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- lerobot
- bimanual
- deformable-object-manipulation
- cloth
- simulation
---
# grasp_bag_strap — bimanual bag-strap grasping
A dual-arm Piper grasps the straps of a deformable bag. Success uses a task-specific checker on the strap grasp.
This is version `v2` of this dataset. Earlier iterations exist but are superseded; pin a git tag or commit sha if you need a specific version.
Part of a bimanual deformable-object (cloth / bag) manipulation benchmark. Physics is a GPU
cloth solver co-simulated with the robot in a single model; observations are rendered with a
photorealistic renderer.
## Contents
| | |
|---|---|
| Format | LeRobot `v3.0` (parquet + mp4, compacted) |
| Robot | `sim_dual_piper_deformable` |
| Episodes | 200 |
| Frames | 85,795 |
| Tasks | 1 |
| Control rate | 25 fps |
| Cameras | `static_cam`, `right_hand_cam`, `left_hand_cam` |
| Video | 1280×720, H264 |
| State / action | 14-D each (left 6 joints + gripper, right 6 joints + gripper) |
**Notes.** Episodes are long (~429 frames). When running closed-loop evaluation, make sure the step budget covers the full demo length — too short a budget truncates the episode right after the grasp completes and reports a false failure.
## Usage
```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("hwk0809/grasp-bag-strap")
```
If your `torchcodec` build cannot decode these videos, pass `video_backend="pyav"`.
## License
Apache-2.0.
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