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Datasets:
deformable-bench
/
grasp-bag-strap

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
robotics
lerobot
bimanual
deformable-object-manipulation
cloth
simulation
Libraries:
Datasets
lerobot
License:
Dataset card Data Studio Files
xet
 Community
hwk0809 commited on
Commit
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verified ·
1 Parent(s): 0adf5b8

LeRobot v3.0 dataset: grasp_bag_strap_v2 (200 episodes)

Browse files
Files changed (20) hide show
  1. README.md +52 -0
  2. data/chunk-000/file-000.parquet +3 -0
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  7. meta/synreal_collect_state.json +10 -0
  8. meta/tasks.parquet +3 -0
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  11. videos/observation.images.left_hand_cam/chunk-000/file-002.mp4 +3 -0
  12. videos/observation.images.left_hand_cam/chunk-000/file-003.mp4 +3 -0
  13. videos/observation.images.right_hand_cam/chunk-000/file-000.mp4 +3 -0
  14. videos/observation.images.right_hand_cam/chunk-000/file-001.mp4 +3 -0
  15. videos/observation.images.right_hand_cam/chunk-000/file-002.mp4 +3 -0
  16. videos/observation.images.right_hand_cam/chunk-000/file-003.mp4 +3 -0
  17. videos/observation.images.static_cam/chunk-000/file-000.mp4 +3 -0
  18. videos/observation.images.static_cam/chunk-000/file-001.mp4 +3 -0
  19. videos/observation.images.static_cam/chunk-000/file-002.mp4 +3 -0
  20. videos/observation.images.static_cam/chunk-000/file-003.mp4 +3 -0
README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - robotics
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+ - lerobot
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+ - bimanual
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+ - deformable-object-manipulation
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+ - cloth
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+ - simulation
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+ ---
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+
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+ # grasp_bag_strap — bimanual bag-strap grasping
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+
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+ A dual-arm Piper grasps the straps of a deformable bag. Success uses a task-specific checker on the strap grasp.
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+
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+ 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.
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+
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+ Part of a bimanual deformable-object (cloth / bag) manipulation benchmark. Physics is a GPU
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+ cloth solver co-simulated with the robot in a single model; observations are rendered with a
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+ photorealistic renderer.
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+
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+ ## Contents
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+
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+ | | |
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+ |---|---|
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+ | Format | LeRobot `v3.0` (parquet + mp4, compacted) |
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+ | Robot | `sim_dual_piper_deformable` |
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+ | Episodes | 200 |
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+ | Frames | 85,795 |
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+ | Tasks | 1 |
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+ | Control rate | 25 fps |
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+ | Cameras | `static_cam`, `right_hand_cam`, `left_hand_cam` |
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+ | Video | 1280×720, H264 |
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+ | State / action | 14-D each (left 6 joints + gripper, right 6 joints + gripper) |
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+
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+ **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.
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+
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+ ## Usage
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+
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+ ```python
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+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
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+
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+ ds = LeRobotDataset("hwk0809/grasp-bag-strap")
46
+ ```
47
+
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+ If your `torchcodec` build cannot decode these videos, pass `video_backend="pyav"`.
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+
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+ ## License
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+
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+ Apache-2.0.
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+ task: grasp_bag_strap
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+ repo_id: grasp_bag_strap
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+ num_episodes: 1
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+ target_episodes: 200
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+ render: kit
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+ image_hw:
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+ - 720
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+ - 1280
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+ sim:
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+ physics_fps: 50
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+ substeps: 10
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+ control_fps: 25
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+ enabled: false
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