openarm_air_fryer

Bimanual OpenArm teleoperation: the left hand opens the air fryer drawer, the right hand places a piece of beef inside, and the left hand closes the drawer.

30 episodes, 23,641 frames, all successful.

Instructions

Episodes	Instruction
0–29	Open the air fryer with the left hand, place the beef inside with the right hand, then close the air fryer with the left hand.

Data

• Format: LeRobot v2.1 (lerobot==0.3.3), fps 28, robot openarm_rh56f1 (OpenArm bimanual + RH56F1 hands), teleoperated.
• observation.state / action (28-D): head pitch/yaw (2), left arm joints 1–7, right arm joints 1–7, left hand 6, right hand 6 (joint positions).
• torque (14-D): left/right arm joint torques.
• Cameras: observation.images.camera_ego_left, observation.images.camera_ego_right — head-mounted ego stereo pair, 512x288, h264 (crf 18).
• meta/modality.json is included for GR00T-style loaders.

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("rooty2020/openarm_air_fryer")

Simulation assets

assets/air_fryer/ has a simulation model of this air fryer: a CUCKOO CAF-H0510TW look-alike, 270 × 331 × 320 mm, whose drawer slides on a prismatic joint. It comes as USD for Isaac Sim / Isaac Lab (paramA/ is recommended) and as GLB for viewers. It is derived from ForgeCAD/simready-assets air_fryer (CC-BY-4.0). See its card for prim layout, loading and attribution.