---
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`](https://huggingface.co/datasets/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:

```text
[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`.