anvil-robotics/pi05-openarm-pick-and-place-ikea-red-block
Robotics • 4B • Updated • 15
Search is not available for this dataset
observation.state list | action list | timestamp float32 0 17.3 | frame_index int64 0 864 | episode_index int64 0 249 | index int64 0 140k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
openarm-pick-and-place-ikea-red-block
Single-arm OpenArm dataset for pick-and-place of an IKEA red block, collected with Quest VR teleop (right arm only). 250 episodes at 50 fps in LeRobot v3.0 format. 8-dim joint-space observation/action (right arm: 7 joints + 1 gripper). Three RGB cameras: waist, wrist_r, chest.
Summary
| Field | Value |
|---|---|
| Robot type | anvil_openarm |
| Format | LeRobot v3.0 |
| FPS | 50 |
| Episodes | 250 |
| Total frames | 140,282 |
| Tasks | 1 |
Observation & Action Space
Control: joint-space (position)
| Dim | Components | |
|---|---|---|
| observation.state | 8 | right_finger_joint1 … right_joint7 (8 total) |
| action | 8 | right_finger_joint1 … right_joint7 (8 total) |
Cameras
| Camera | Resolution | Codec |
|---|---|---|
chest |
480 × 640 | h264 |
waist |
480 × 640 | h264 |
wrist_r |
480 × 640 | h264 |
Collection Environment
| Field | Value |
|---|---|
| Table cover | black fabric |
| Background | white plastic board |
| Lighting | multiple overhead LED |
| Location | indoor lab |
Download
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="anvil-robotics/openarm-pick-and-place-ikea-red-block",
repo_type="dataset",
)
License
apache-2.0
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