Bimanual Robot Arm Cloth Manipulation Dataset

This dataset contains 945 trials of a bimanual robot arm setup, where one arm holds a piece of cloth (e.g., a towel) by one corner while the other arm, equipped with a wrist-mounted camera, captures images from approximately 180 different angles by making a half-circle motion around the cloth. Each trial includes images and the corresponding TCP (Tool Center Point) poses of the second arm. Additionally, the dataset provides annotated positions of the two corners adjacent to the held corner, which are critical for unfolding the cloth by grasping these points. This dataset is valuable for research in robotic manipulation, computer vision, and cloth handling tasks.