LeRobot — Dataset repository updates· lerobot·2026-11-02 11:08 UTC· 3 hours agoSignalEditorial score75

lerobot/openarm-usd

Summary

This dataset release provides an OpenUSD model of the bimanual OpenArm robot. The model is constructed from NVIDIA's openarm_bimanual asset originally intended for Isaac Sim 6.0. It has been modified to align with LeRobot's openarm_bimanual URDF by adopting identical joint and link names, converting units from radians to degrees, fixing specific joints, and optimizing mesh geometry. The dataset includes a single layer file containing the robot kinematics without sensors or colliders, intended primarily for visualization rather than simulation.

Source: LeRobot — Dataset repository updates · Read original article ↗

Article text · Original source · English

On this page

The Dataset Viewer has been disabled on this dataset.

An OpenUSD model of the bimanual OpenArm whose joints and links carry the names of LeRobot's openarm_bimanual URDF, so the joint values of OpenArm LeRobot datasets drive it the way they drive the URDF.


Root USD	`openarm_bimanual/simready_usd/openarm_bimanual.usd`: one layer, 6 MB
Units	meters, Z up; joint limits in degrees
Joints, per arm (`left`, `right`)	`openarm_<side>_joint1` to `joint7` (revolute), `openarm_<side>_finger_joint1` and `finger_joint2` (prismatic, the second following the first), `<side>_openarm_hand_joint` (fixed)
Links	`openarm_body_link0`; per arm `openarm_<side>_link0` to `link7`, `openarm_<side>_hand`, `openarm_<side>_left_finger`, `openarm_<side>_right_finger`, and the `openarm_<side>_hand_tcp` tip frame
Geometry	58 meshes, 404k triangles, UsdPreviewSurface materials

Checked against the URDF

Every link and moving joint of openarm_bimanual_web.urdf is here, under the same name, except its empty world root. The link0s and tool points, fixed there, are plain frames here.
Posed at 200 random joint configurations, every link lands within 0.001 mm and 0.001° of the URDF's: same zero pose, axes and directions. The URDF takes radians, this model degrees. The finger bodies' frames sit 1 mm from the URDF's at every pose, which leaves their motion unchanged.
It loads in @huggingface/usd-web-viewer with no warnings.

Usage

import { loadUsd } from "@huggingface/usd-web-viewer";

const { root } = await loadUsd(
  "https://huggingface.co/datasets/lerobot/openarm-usd/resolve/main/openarm_bimanual/simready_usd/openarm_bimanual.usd",
);
scene.add(root); // a THREE.Group, Y up

Source and changes

Built from NVIDIA's openarm_bimanual asset for Isaac Sim 6.0 (Apache-2.0), also in enactic/openarm_isaac_lab. Changes:

composed into one layer, without the sensors, render settings and colliders;
the ee_tcp bodies, 13 mm from the URDF's tool point, replaced by hand_tcp frames where the URDF puts them;
the link7-to-hand joints made fixed, and they and the body link renamed to the URDF's;
OmniPBR materials converted to UsdPreviewSurface;
visual meshes decimated from 2.2M to 404k triangles, within 3.5 mm of the original.

Without colliders it is meant for display; for simulation, use NVIDIA's original. scripts/build_openarm.py rebuilds it (needs usd-core, numpy and fast-simplification). The package follows the SimReady packaging layout, with its file list and hashes; it has not been through NVIDIA's SimReady validation.

Downloads last month: -

What the source reports

Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.

Reported numbers

millimeters
1
View original evidence
ed against the URDF Every link and moving joint of openarm_bimanual_web.urdf is here, under the same name, except its empty world root. The link0 s and tool points, fixed there, are plain frames here. Posed at 200 random joint configurations, every link lands within 0.001 mm and 0.001° of the URDF's: same zero pose, axes and directions. The URDF takes radians, this model degrees. The finger bodies' frames sit 1 mm fr
Open source S4
millimeters
0.001
View original evidence
ed against the URDF Every link and moving joint of openarm_bimanual_web.urdf is here, under the same name, except its empty world root. The link0 s and tool points, fixed there, are plain frames here. Posed at 200 random joint configurations, every link lands within 0.001 mm and 0.001° of the URDF's: same zero pose, axes and directions. The URDF takes radians, this model degrees. The finger bodies' frames sit 1 mm fr
Open source S4
robots
1
View original evidence
The Dataset Viewer has been disabled on this dataset. An OpenUSD model of the bimanual OpenArm whose joints and links carry the names of LeRobot's openarm_bimanual URDF, so the joint values of OpenArm LeRobot datasets drive it the way they drive the URDF. Root USD openarm_bimanual/simready_usd/openarm_bimanual.usd : one layer, 6 MB Units meters, Z up; joint limits in degrees Joints, per arm ( left , right ) openarm_<
Open source S2
robots
1
View original evidence
's openarm_bimanual asset for Isaac Sim 6.0 (Apache-2.0), also in enactic/openarm_isaac_lab . Changes: composed into one layer, without the sensors, render settings and colliders; the ee_tcp bodies, 13 mm from the URDF's tool point, replaced by hand_tcp frames where the URDF puts them; the link7-to-hand joints made fixed, and they and the body link renamed to the URDF's; OmniPBR materials converted to UsdPreviewSurfa
Open source S6

paper: not_reported
code: not_reported
weights: not_reported
dataset: not_reported

What remains unknown

Dataset licensing and commercial-use rights are not established here.

Source excerpts and review record

Automatically extracted; no manual editorial approval recorded.

side>_joint1 to joint7 (revolute), openarm_<side>_finger_joint1 and finger_joint2 (prismatic, the second following the first), <side>_openarm_hand_joint (fixed) Links openarm_body_link0 ; per arm openarm_<side>_link0 to link7 , openarm_<side>_hand , openarm_<side>_left_finger , openarm_<side>_right_finger , and the openarm_<side>_hand_tcp tip frame Geometry 58 meshes, 404k triangles, UsdPreviewSurface materials Check
Open source S3

's openarm_bimanual asset for Isaac Sim 6.0 (Apache-2.0), also in enactic/openarm_isaac_lab . Changes: composed into one layer, without the sensors, render settings and colliders; the ee_tcp bodies, 13 mm from the URDF's tool point, replaced by hand_tcp frames where the URDF puts them; the link7-to-hand joints made fixed, and they and the body link renamed to the URDF's; OmniPBR materials converted to UsdPreviewSurfa
Open source S6

ed against the URDF Every link and moving joint of openarm_bimanual_web.urdf is here, under the same name, except its empty world root. The link0 s and tool points, fixed there, are plain frames here. Posed at 200 random joint configurations, every link lands within 0.001 mm and 0.001° of the URDF's: same zero pose, axes and directions. The URDF takes radians, this model degrees. The finger bodies' frames sit 1 mm fr
Open source S4

The Dataset Viewer has been disabled on this dataset. An OpenUSD model of the bimanual OpenArm whose joints and links carry the names of LeRobot's openarm_bimanual URDF, so the joint values of OpenArm LeRobot datasets drive it the way they drive the URDF. Root USD openarm_bimanual/simready_usd/openarm_bimanual.usd : one layer, 6 MB Units meters, Z up; joint limits in degrees Joints, per arm ( left , right ) openarm_<
Open source S2

Implications for data suppliers

RoboSignal interpretation and collection questions, not statements of buyer demand.

Confirm the required data type and collection setting with the buyer; this source does not establish a complete collection specification.
Compare the reported units and scope before using these quantities in a budget. Recording hours, sensor-hours and trajectories are different measures.
Validate demand and acceptance criteria with a buyer before scaling. Publication, popularity and a research result do not establish a purchase commitment.

Source：LeRobot — Dataset repository updates · huggingface.co

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