---
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