kshitiz25/sim_packing_task

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:

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.