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RoboCasa_GR1

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pretty_name: RoboCasa GR1 EEF33 LeRobot v3
task_categories:
  - robotics

RoboCasa GR1 EEF33 (LeRobot v3)

OpenWAM-ready conversion of the 24k-trajectory gr1_unified.* subset from nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim.

The original LeRobot v2.0 payload is preserved and enriched with:

eef_action
observation.eef_state

Both use the robot-base-frame layout:

[L xyz3, L rot6d6, L hand6, R xyz3, R rot6d6, R hand6, waist3]

The conversion uses the exact RoboCasa GR1 MuJoCo model for forward kinematics, then re-indexes the dataset to the LeRobot v3 metadata/path contract. normalization_stats.npy contains one global eef statistics block pooled from state and action rows; rot6d dimensions are identity-pinned.

Conversion implementation: OpenWAM PR #44, commit e36dd50.