syncere/tshirt_folding_20251111_B_wc20

---
license: apache-2.0
tags:
- robotics
- lerobot
- dataset
---

# tshirt_folding_20251111_B_wc20

This is a LeRobot dataset containing robot demonstration data.

## Dataset Information

- **Robot Type**: bi_piper
- **Total Episodes**: 151
- **Total Frames**: 397326
- **Total Videos**: 755
- **FPS**: 30
- **Codebase Version**: v2.1

## Cameras

This dataset includes the following camera observations:
- `left_fisheye`
- `right_fisheye`
- `center_realsense`
- `left_realsense`
- `right_realsense`

## Action Space

The robot action space has **14** dimensions:
1. left_joint_1.pos
2. left_joint_2.pos
3. left_joint_3.pos
4. left_joint_4.pos
5. left_joint_5.pos
6. left_joint_6.pos
7. left_gripper.pos
8. right_joint_1.pos
9. right_joint_2.pos
10. right_joint_3.pos
11. right_joint_4.pos
12. right_joint_5.pos
13. right_joint_6.pos
14. right_gripper.pos

## Observation Space

### State
The robot state has **14** dimensions:
1. left_joint_1.pos
2. left_joint_2.pos
3. left_joint_3.pos
4. left_joint_4.pos
5. left_joint_5.pos
6. left_joint_6.pos
7. left_gripper.pos
8. right_joint_1.pos
9. right_joint_2.pos
10. right_joint_3.pos
11. right_joint_4.pos
12. right_joint_5.pos
13. right_joint_6.pos
14. right_gripper.pos

### Images
- **left_fisheye**: [480, 512, 3]
- **right_fisheye**: [480, 512, 3]
- **center_realsense**: [480, 512, 3]
- **left_realsense**: [480, 512, 3]
- **right_realsense**: [480, 512, 3]

## Tasks

Total tasks: 1

## Dataset Structure

```
tshirt_folding_20251111_B_wc20/
├── meta/
│ ├── info.json # Dataset metadata
│ ├── episodes.jsonl # Episode information
│ ├── tasks.jsonl # Task definitions
│ └── episodes_stats.jsonl # Episode statistics
├── data/
│ └── chunk-000/ # Parquet files with observation/action data
└── videos/
└── chunk-000/ # Video files for each camera
```

## Usage

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

# Load the dataset
dataset = LeRobotDataset("syncere/tshirt_folding_20251111_B_wc20")

# Access episodes
for episode_idx in range(dataset.num_episodes):
episode = dataset[episode_idx]
# Process episode...
```

## Citation

If you use this dataset in your research, please cite the LeRobot project:

```bibtex
@software{lerobot,
author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouédec, Quentin and Zouitine, Adil and Wolf, Thomas},
title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics},
url = {https://github.com/huggingface/lerobot},
year = {2024}
}
```