---
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)

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"*.

- 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).

## 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.