Grabette is Pollen Robotics’ hand-held tool for recording robotic manipulation demonstrations — part of the open-source GRABETTE toolkit for turning human demonstrations into training-ready datasets for imitation learning.
The mechanism
A two-finger gripper (2 actuated degrees of freedom — one open/close joint per finger) built into a hand-held grip, with a stereo camera pair, an IMU, and a Raspberry Pi housed directly in the handle. A GRABETTE rig records synchronized camera and IMU streams as a human demonstrator manipulates objects with it, recovers the camera trajectory with SLAM, and exports the result as a LeRobot dataset.
Choosing a variant
Both variants are the identical mechanism, mirrored:
- Right — the right-handed grip.
- Left — the left-handed grip.
About these files — read before importing
This links directly to
pollen-robotics/grabette, Pollen Robotics’
own repository — specifically the packages/grabette/ component of their broader GRABETTE
toolkit, which also includes a robot-mounted counterpart
(Gripette, also in this gallery), a data-postprocessing pipeline, and
an OpenArm integration example. ARMOR links directly to the repository rather than
re-hosting anything, so what you get is exactly what Pollen Robotics publishes, unmodified.