| 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 Earlier iterations exist but are superseded; pin a git tag or commit sha if you need a specific version.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. | |