Codingpae/openarm_xemb_droid_pen_droidpath_designgrasp_v2_c3r_clean

OpenArm sim data: DroidPath-DesignGrasp, C3r_clean, pen pick & place (2026-11-09)

Simulated OpenArm demonstrations for training. The motion path and gripper timing are converted from real DROID (Franka) demonstrations (lerobot/droid_1.0.1). The grasp pose comes from the object mesh, design values and IK; no OpenArm human demonstrations are used. Replayed with physics in an Isaac Sim 5.1 / Isaac Lab 2.3 digital twin and re-rendered with 3 cameras. Task: "pick up the blue pen and place it in the box".

• Format: LeRobot v3.0, 30 fps, observation.images.{headcam, camera_01, camera_02} (640×480), observation.state / action 16-D.
• 115 episodes, 74,094 frames. Every episode succeeded in physics replay and has no arm contact during transit or after closure.
• meta/stats.json is computed from these 115 episodes only. Failed episodes are not included.

Provenance / license

Source trajectories: DROID (Khazatsky et al., 2024) via lerobot/droid_1.0.1 (listed as apache-2.0 on the Hub). Simulated renders only; no real camera footage. Research use; please cite DROID. Contact: RV LAB.