qualiadev/openarm_pick_v6

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

Usage

Loading with LeRobot

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:

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:

@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