---
license: apache-2.0
task_categories: [robotics]
tags: [LeRobot, openarm, simulation, isaac-sim, cross-embodiment, droid, data-augmentation, pick-and-place, bimanual]
configs: []
---
# OpenArm cross-embodiment sim data — DROID → OpenArm, pen pick & place (trial5, 2026-11-06)

Simulated OpenArm (bimanual, 7-DoF × 2, parallel gripper) demonstrations converted from real **DROID** (Franka) demonstrations
(`lerobot/droid_1.0.1`), replayed with physics in an Isaac Sim 5.1 / Isaac Lab 2.3 digital twin of our real setup, and re-rendered with 3 cameras.
Task: *"pick up the blue pen and place it in the box"* (identical string to our paired real dataset).

- Format: LeRobot v3.0, 30 fps, `observation.images.{headcam, camera_01, camera_02}` (640×480), `observation.state` / `action` 16-D
  (per arm: 7 joints [rad] + gripper motor angle [rad]) — same keys/units as the paired real teleop data.
- 161 episodes = 145 first attempts (success **and** failure, so baselines can be built from the same trajectories) + 16 successful retries.
- Wrist camera mount from CAD (hole-pattern registration) + Orbbec Gemini 305 datasheet (color origin = left RGB module) + factory intrinsics (HFOV 81.5°).
- Visual domain randomization (lighting, background, small camera pose jitter).

## Condition subsets (`conditions_subsets.json`)
Episode indices into this dataset. All subsets come from the same converted trajectories — only the filter differs.

| subset | rule | episodes |
|---|---|---|
| C1_none | all first attempts (no filter) | 145 |
| C2_kin | first attempts passing a kinematic filter (pose error / velocity limits, OXE-AugE / UMI style) | 117 |
| C3_phys | first attempts that succeed in physics replay (lifted, in box, released) | 107 |
| C3r_retry | C3_phys + episodes rescued by re-sampling the target grasp (up to 3 retries) | 122 |

Physics verification and recording use the same start (rest pose → planned transit → replay); verdicts agree on 143/145 first attempts.

## 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 contain no people.
Research use; please cite DROID. Contact: RV LAB.