| --- |
| pretty_name: Bimanual xArm Packing (Simulation) |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - bimanual |
| - xarm |
| - mujoco |
| - packing |
| --- |
| |
| # Bimanual xArm Packing (Simulation) |
|
|
| Teleoperated demonstrations of a bimanual packing task in MuJoCo. Two xArm7 arms pack objects |
| (YCB and scanned household objects) into small, medium and large trays according to a goal. Each |
| episode is one subtask, such as "Pack the cracker box into the large tray.", and the `task` |
| field holds that instruction. |
|
|
| ## Layout |
|
|
| Each round folder is a complete LeRobot dataset (codebase version 2.1). |
|
|
| | Folder | Episodes | Frames | |
| |---|---|---| |
| | `baseline/round1` | 334 | 456,996 | |
| | `baseline/round2` | 336 | 291,368 | |
| | `baseline/round3` | 338 | 234,802 | |
| | `baseline/round4` | 339 | 329,912 | |
| | `beta-data/round1` | 384 | 430,226 | |
| | `beta-data/round3` | 522 | 399,971 | |
| | `beta-data/round4` | 540 | 428,902 | |
|
|
| `baseline` holds standard demonstrations. `beta-data` holds demonstrations collected while an |
| adversary perturbs the scene during the task, so episodes include recovery from disturbed |
| states. The beta-data rounds keep their original collection numbers. |
|
|
| ## Features |
|
|
| All rounds share one schema and are recorded at 60 Hz. |
|
|
| | Key | Shape | Description | |
| |---|---|---| |
| | `observation.state` | float32 (20,) | Per arm, left then right: end-effector position `(x, y, z)`, rotation as the first two columns of the rotation matrix `(r00, r10, r20, r01, r11, r21)`, gripper | |
| | `action` | float32 (20,) | Target pose in the same 20-d layout as the state | |
| | `observation.images.base` | video, 3x224x224 | Overhead camera | |
| | `observation.images.left_wrist` | video, 3x224x224 | Left wrist camera | |
| | `observation.images.right_wrist` | video, 3x224x224 | Right wrist camera | |
| | `task_index` | int64 | Index into `meta/tasks.jsonl` | |
|
|
| Videos are AV1-encoded MP4 files; decoding them needs an FFmpeg build with an AV1 decoder |
| (for example `libdav1d`). `meta/high_level_prompts.json` stores the goal-level prompt for each |
| episode. |
|
|
| ## Usage |
|
|
| Download one round and read its frames: |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| import pandas as pd |
| |
| root = snapshot_download( |
| "kshitiz25/sim_packing_task", |
| repo_type="dataset", |
| allow_patterns="baseline/round1/*", |
| ) |
| ds_root = f"{root}/baseline/round1" |
| frames = pd.read_parquet(f"{ds_root}/data/chunk-000/episode_000000.parquet") |
| ``` |
|
|
| Point a LeRobot release that reads codebase version 2.1 at `ds_root` to load a round as a |
| `LeRobotDataset`. |
|
|
