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README.md

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+---
+pretty_name: pp-bench
+tags: [LeRobot, robotics, manipulation, pick-and-place, simulation]
+task_categories: [robotics]
+---
+
+# pp-bench
+
+Simulated pick-and-place demonstrations of RoboStudio's Galaxea R1 Pro (`r1pro_rs`, a driving base)
+on ManiSkill3 / SAPIEN, from HQ-Bench's `PickPlace-v1`. One LeRobot v3.0 dataset per task, in a
+folder named after it.
+
+- 20 Hz, joint-position actions (23) and state (28); three cameras, head and both wrists, 224x224,
+  path-traced (`rt-med`).
+- Each episode has its own instruction ("Put the tissue box in the box.").
+- Per task 200 episodes: 100 with no clutter (T0) and 25 at each clutter level T1, T2, T3, TH.
+- A demonstration is kept when the scripted planner solves it with RoboStudio's collision gate at
+  "ok", the success held for 10 steps, and no arm or torso joint moving over 0.5 rad in a step.
+
+| folder | task | episodes |
+|---|---|---|
+| PP02 | Put the {object} in the {box}. | 200 |
+
+The TH episodes here have obstructors standing against the target; a later version sets them in
+its way, to be moved aside first.