| --- |
| license: apache-2.0 |
| task_categories: [robotics] |
| tags: [LeRobot, openarm, simulation, isaac-sim, cross-embodiment, droid, data-augmentation, pick-and-place, bimanual] |
| configs: [] |
| --- |
| # OpenArm sim data: SolverPath-DroidGrasp, pen pick & place (2026-11-09) |
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| Simulated OpenArm demonstrations. The grasp tilt and gripper close/open curves come from real **DROID** (Franka) demonstrations (`lerobot/droid_1.0.1`). The motion path is generated by a solver (waypoint IK + Lula RRT). 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"*. |
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|
| - Format: LeRobot v3.0, 30 fps, `observation.images.{headcam, camera_01, camera_02}` (640×480), `observation.state` / `action` 16-D. |
| - 138 episodes, 102,434 frames = 108 first attempts (success and failure) + 30 successful retries. |
| - 39 of 147 source demos had no target grasp found on the first attempt (cause not yet determined). |
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| ## Condition subsets (`conditions_subsets.json`) |
| Episode indices into this dataset. |
| |
| | subset | rule | episodes | frames | |
| |---|---|---|---| |
| | C1_none | all first attempts | 108 | 79,180 | |
| | C2_kin | first attempts passing the kinematic filter | 108 | 79,180 | |
| | C3_phys | first attempts that succeed in physics replay | 92 | 66,979 | |
| | C3r_retry | C3_phys + successful retries | 119 | 87,895 | |
| | C3r_clean | physics success and no arm contact during transit or after closure | 114 | 84,558 | |
| |
| **Do not train on the full dataset with its `meta/stats.json`.** It includes failed episodes. Build a subset dataset and recompute statistics first. |
| |
| ## 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. |
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