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 Earlier iterations exist but are superseded; pin a git tag or commit sha if you need a specific version.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