Collect Teleop Data using OpenArm

[Dozgulbas]

Collect teleoperation data on various use cases to be used on policy training

• Gamepad controller
  • Simple tasks such as cube pick&place
• Leader arm
  • Complex tasks such as handling labware opening doors

Task List

1. Single Arm Tasks

• Cube Pick & Place
• LabWare Pick & Place
• Object Stacking (stacking plates, placing lids on plates)
• Open&Close door handle
• Fully open closet doors
• Pick a cube from Closet and place it on table top

2. Bimanual Arm Tasks:

• Object Stacking (stacking plates, placing lids on plates)
• Connect Hoses / Cables
• Dials/Knobs

[Dozgulbas]

03/19/26 Update
Collected teleop data for Pick&Place. Complications with RPL setup caused delays but should be moving faster from now on.