OpenWAM/

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:

eef33_action eef33_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… See the full description on the dataset page: https://huggingface.co/datasets/OpenWAM/robocasa-gr1-eef33-lerobot-v3.