openarm_towel_l2r_30

Bimanual OpenArm teleoperation: the left hand picks up a towel and hands it over to the right hand, which places it in a white container on the right.

30 episodes, 14,470 frames, all successful, one instruction.

Instruction

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

Sources

Episodes	Source
0–14	Episodes 0–14 of rooty2020/openarm_towel (the left-to-right half), copied unchanged.
15–29	New teleop session with the same scene and setup (head pitch 0.89). Recorded at ~29.9 Hz; brought to 28 fps by keeping the recorder frame nearest to each 1/28 s step (about 6% of frames dropped, no values interpolated), so state, action and both cameras of a frame always come from the same original sample.

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_l2r_30")