| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - lerobot |
| - bimanual |
| - deformable-object-manipulation |
| - cloth |
| - simulation |
| --- |
| |
| # flatten_silk — bimanual silk flattening |
| |
| A dual-arm Piper flattens a crumpled square of silk on a table. Success is judged on final cloth coverage. |
| |
| Part of a bimanual deformable-object (cloth / bag) manipulation benchmark. Physics is a GPU |
| cloth solver co-simulated with the robot in a single model; observations are rendered with a |
| photorealistic renderer. |
| |
| ## Contents |
| |
| | | | |
| |---|---| |
| | Format | LeRobot `v3.0` (parquet + mp4, compacted) | |
| | Robot | `sim_dual_piper_deformable` | |
| | Episodes | 200 | |
| | Frames | 80,432 | |
| | Tasks | 1 | |
| | Control rate | 25 fps | |
| | Cameras | `static_cam`, `right_hand_cam`, `left_hand_cam` | |
| | Video | 1280×720, AV1 | |
| | State / action | 14-D each (left 6 joints + gripper, right 6 joints + gripper) | |
|
|
| **Notes.** Collected with the faster physics profile (8 solver iterations, translation preconditioner off). Videos are AV1-encoded, a side effect of trimming the original 208-episode collection down to 200 episodes. |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("hwk0809/flatten-silk") |
| ``` |
|
|
| If your `torchcodec` build cannot decode these videos, pass `video_backend="pyav"`. |
|
|
| ## License |
|
|
| Apache-2.0. |
|
|
