OpenWAM/RoboCasa_GR1

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: eef_action observation.eef_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… See the full description on the dataset page: https://huggingface.co/datasets/OpenWAM/RoboCasa_GR1.

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