farm_bottle_lora

100 teleoperated demonstrations of a UFactory UF850 arm picking up a bottle and placing it on the box, in LeRobot v2.0 format. Collected with the FARM VR‑teleop harness (Meta Quest → ROS‑TCP → π0.5). Intended for a LoRA fine‑tune of π0.5.

Summary

Episodes	100
Frames	26,378 @ 30 fps
Tasks	1
Robot	uf850 (6 joints + parallel gripper)
Cameras	base, wrist (640×480, h264)

Task: Picking up the bottle and placing it on the box

Features

• observation.state — float32[7] — 6 joint angles (rad) + gripper opening (0=open…1=closed)
• action — float32[7] — next observation.state (last frame repeats)
• observation.images.base / observation.images.wrist — video (h264 mp4 @ 30 fps)
• timestamp, frame_index, episode_index, task_index, index — scalars

Provenance

The first 100 episodes (by recording time) of the FARM dataset4 collection, exported via model/export_lerobot.py. This is the LoRA‑sized companion to the full‑set NoahWeiss/farm_uf850_bottle.