| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - lerobot |
| - manipulation |
| - bimanual |
| - isaac-sim |
| - openarm |
| - teleoperation |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: "data/**/*.parquet" |
| --- |
| |
| # OpenArm Pick v6 - LeRobot Dataset |
|
|
| A LeRobot v2.1 dataset for bimanual robot manipulation, recorded in Isaac Sim with teleoperation. |
|
|
| ## Dataset Description |
|
|
| This dataset contains teleoperated demonstrations of a bimanual OpenArm robot performing pick-and-place tasks. It was created for training the Pi0.5 model for robotic manipulation. |
|
|
| ### Quick Stats |
|
|
| | Property | Value | |
| |----------|-------| |
| | **Robot** | openarm_bimanual | |
| | **Episodes** | 100 | |
| | **Total Frames** | 65,190 | |
| | **Duration** | ~36.2 minutes | |
| | **FPS** | 30 Hz | |
| | **Cameras** | 3 (head, wrist_left, wrist_right) | |
| | **State Dimension** | 16 | |
| | **Action Dimension** | 16 | |
| | **Format** | LeRobot v2.1 | |
| |
| ### Tasks |
| |
| - grab the electric screwdriver from the table and drop it inside the box |
| |
| ### State/Action Space |
| |
| The robot has 16 degrees of freedom (2 arms × (7 joints + 1 gripper)): |
| |
| ``` |
| State/Action indices: |
| [0-6] Left arm joints (rad) |
| [7] Left gripper (normalized 0-1) |
| [8-14] Right arm joints (rad) |
| [15] Right gripper (normalized 0-1) |
| ``` |
| |
| ### Camera Configuration |
| |
| | Camera | Resolution | Codec | FPS | |
| |--------|------------|-------|-----| |
| | head | 480x360 | av1 | 30 | |
| | wrist_left | 480x360 | av1 | 30 | |
| | wrist_right | 480x360 | av1 | 30 | |
| |
| ## Visualization |
| |
| You can visualize this dataset using the LeRobot visualization space: |
| |
| 👉 **[Visualize Dataset](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=AiSaurabhPatil/openarm_pick_v6)** |
| |
| ## Usage |
| |
| ### Loading with LeRobot |
| |
| ```python |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
|
|
| dataset = LeRobotDataset("AiSaurabhPatil/openarm_pick_v6") |
|
|
| # Get a sample |
| sample = dataset[0] |
| print(sample.keys()) |
| # dict_keys(['observation.state', 'action', 'observation.images.head', ...]) |
| ``` |
| |
| ### Training with OpenPI |
| |
| This dataset can be used directly with OpenPI for Pi0.5 finetuning: |
| |
| ```bash |
| cd openpi |
| uv run scripts/train.py pi05_openarm --exp-name=my_experiment |
| ``` |
| |
| ## Dataset Structure |
| |
| ``` |
| AiSaurabhPatil/openarm_pick_v6/ |
| ├── data/ |
| │ └── chunk-000/ |
| │ ├── episode_000000.parquet |
| │ ├── episode_000001.parquet |
| │ └── ... |
| ├── videos/ |
| │ └── chunk-000/ |
| │ ├── observation.images.head/ |
| │ ├── observation.images.wrist_left/ |
| │ └── observation.images.wrist_right/ |
| └── meta/ |
| ├── info.json |
| ├── tasks.jsonl |
| ├── episodes.jsonl |
| └── episodes_stats.jsonl |
| ``` |
| |
| ## Data Collection |
| |
| - **Platform**: Isaac Sim (NVIDIA Omniverse) |
| - **Control**: VR teleoperation with Quest 3 |
| - **Recording**: Custom ROS2 bridge + LeRobot recording script |
| |
| ## Citation |
| |
| If you use this dataset, please cite: |
| |
| ```bibtex |
| @dataset{openarm_pick_v6, |
| author = {AiSaurabhPatil}, |
| title = {OpenArm Pick v6 - LeRobot Dataset}, |
| year = {2026}, |
| publisher = {Hugging Face}, |
| url = {https://huggingface.co/datasets/AiSaurabhPatil/openarm_pick_v6} |
| } |
| ``` |
| |
| ## License |
| |
| Apache 2.0 |
| |
