---
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.