| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - robotics | |
| - lerobot | |
| - bimanual | |
| - deformable-object-manipulation | |
| - cloth | |
| - simulation | |
| # flatten_tshirt — bimanual t-shirt flattening | |
| A dual-arm Piper flattens a crumpled t-shirt on a table. Success combines a coverage signal (catches 'still crumpled') with a shape-distance signal against a canonical flat pose (catches 'spread out but still folded'). | |
| 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 | 41,464 | | |
| | Tasks | 1 | | |
| | Control rate | 25 fps | | |
| | Cameras | `static_cam`, `right_hand_cam`, `left_hand_cam` | | |
| | Video | 1280×720, H264 | | |
| | State / action | 14-D each (left 6 joints + gripper, right 6 joints + gripper) | | |
| ## Usage | |
| ```python | |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset | |
| ds = LeRobotDataset("hwk0809/flatten-tshirt") | |
| ``` | |
| If your `torchcodec` build cannot decode these videos, pass `video_backend="pyav"`. | |
| ## License | |
| Apache-2.0. | |