openarm_towel

Bimanual OpenArm teleoperation: one hand picks up a towel, hands it over to the other hand, which places it in a white container. Both handover directions are included (the container is on the receiving hand's side).

30 episodes, 15,349 frames, all successful.

Instructions

Episodes	Instruction
0–14	Pick up the towel with the left hand, hand it to the right hand, and place it in the white container.
15–29	Pick up the towel with the right hand, hand it to the left hand, and place it in the white container.

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_towel")