titus-robots/titus-packing-benchmark-alpha

Titus Packing Benchmark · Scene Assets

Versioned scene assets for the Titus dual-arm packing environment.

Code & setup on GitHub · Complete HF collection

Existing SDK render showing the available assets; not a benchmark-success result or the six-bag starter reset.

The release is split into code and data

Component	Location
Environment code, physics adapters, scripted reference, scorers, recipes, examples, tests, and documentation	GitHub: titus-packing-benchmark
Robot/workcell USD assets, bag/carton geometry, textures, collision/tetrahedral data, optional factory background	This repository: titus-scene-v0.2.1.zip
Pinned Linux/Python 3.12 solver dependency snapshot	Separate download: titus-runtime-v0.2.0.zip
Robot teleop: 60 LeRobot segments, 162,143 frames at 60 Hz	rotary-table-rice-cakes
UMI: 21 bimanual episodes, 471 seconds, cameras/poses/gripper widths/calibration	trumi-box-bags-2026-10-16

The demonstrations stay in their existing repositories with their access-approval settings unchanged. This asset repository is public. Runtime dependencies are not demonstration data; the separate snapshot preserves the exact upstream solver files expected by the scene's integrity checks.

Start here

git clone --branch alpha-v0.2.1 https://github.com/ewinchell07/titus-packing-benchmark.git
cd titus-packing-benchmark
python3 -m venv .venv
source .venv/bin/activate
python -m pip install -r requirements-client.txt
python scripts/fetch_assets.py
python verify_package.py

The code's assets.lock.json pins an immutable HF commit, checks the archive hashes, verifies every extracted member, and installs assets into the paths expected by the SDK. It refuses to overwrite modified assets. Do not use floating main assets with a pinned code release.

Native simulation requires a separately provisioned Linux/NVIDIA environment with Isaac Sim 6.2.0.0 and Python 3.12. The soft backend retains Newton 1.7.0, Warp 1.17.0, and MuJoCo/MuJoCo-Warp 3.15.0. For setup, data formats, controls, scoring, usage tips, and limitations, use the GitHub README.

Files and reproducibility

• titus-scene-v0.2.1.zip: physical/visual assets and backend scene geometry, extracted relative to the code checkout.
• titus-runtime-v0.2.0.zip: exact Linux/Python 3.12 dependency overlay under solver/site/, with original license notices.
• assets-manifest.json: per-archive and per-file SHA-256 identities.
• SHA256SUMS: checksums of these release downloads.
• release.json: upstream SDK and demonstration-dataset revisions.

Simulation code, scene geometry and physical properties remain unchanged from SDK 2026.10.28.8. This patch sanitizes scene documentation and custom metadata namespaces and updates integrity hashes. It does not upgrade physics or adopt experimental solver settings. Older combined ZIPs remain accessible at tags alpha-v0.1.0 and alpha-v0.1.1; use alpha-v0.2.1 code for the split distribution.

Alpha scope

This is an early environment-and-data release, not a finalized leaderboard. Soft-body inversions remain possible; keep physics checks enabled. Simulation cameras are approximate, the asset catalog covers one bag SKU and one carton representation, and UMI-to-YAM registration/retargeting is not supplied as validated calibration. The scripted reference is privileged and single-bag; it is not a six-bag learned-policy score. No new GPU qualification is claimed by this packaging change.

Titus-owned assets are MIT licensed. Third-party dependencies retain their original licenses; branding/trademarks are not relicensed. See LICENSE and THIRD_PARTY_NOTICES.md. Report code/integration issues on GitHub.