Grabette
Based on published sources · Not tested by us ·
License: Apache-2.0 · Details by part
Overview
Pollen Robotics handheld demonstration recorder (Raspberry Pi 4, fisheye camera, OAK-D SR, finger angle sensors) with an offline SLAM pipeline that exports LeRobot datasets. [S001] [S006] [S007]
Grabette is a handheld data-collection device from Pollen Robotics, together with a pipeline that turns its recordings into LeRobot datasets. It is not a robot: the operator holds the device, whose finger joints carry angle sensors, while cameras and an IMU record the motion. The same repository also contains Gripette, a robot-mounted gripper on a Raspberry Pi Zero 2W with two STS3215 servos; an OpenArm integration; and a work-in-progress head-mounted device. This entry covers the handheld Grabette at release v1.0.1. Nothing was built, installed or recorded for this entry. [S001] [S002] [S006] [S010]
Specifications
| Detail | Description |
|---|---|
| Type | Handheld two-finger data-collection device; not actuated. Built as a left or right hand. Reported by source [S006] · Checked 2026-10-05 |
| Intended users | Robot-learning labs able to run Docker-based SLAM and write a robot integration Editorial assessment [S001] [S007] · Checked 2026-10-05 |
| Assembly | packages/grabette/assembly holds left/right STEP files and assembly and print-guide PDFs; the assembly PDF is an LFS payload (about 24.7 MB) not preserved here. Reported by source [S006] [S009] · Checked 2026-10-05 |
| Calibration | Hand (left/right) chosen at install; angle-convention configuration documented in package docs (not inspected in detail). Reported by source [S006] · Checked 2026-10-05 |
| Operating system | Raspberry Pi OS Bookworm (Debian 12) and Trixie (Debian 13) on the device Reported by source [S006] · Checked 2026-10-05 |
| Computer needed | Raspberry Pi 4 on the device; a workstation with Docker for SLAM post-processing Reported by source [S006] [S007] · Checked 2026-10-05 |
3D preview
Preview not available yet. Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Model sources
Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Assembly and use
Who it suits
It suits labs collecting handheld demonstrations, UMI-style, that can run Docker on a workstation and integrate a target robot themselves. The README calls the collection pipeline robot-agnostic, but OpenArm with Gripette is the only robot integration provided; another arm needs its own integrations folder. [S001] [S011]
What the device contains
The handheld device runs a Raspberry Pi 4 with a fisheye Raspberry Pi camera module (1296×972 at 46 fps) and an OAK-D SR stereo RGB-D camera. The OAK-D SR supplies depth and its on-board IMU supplies inertial data; the README marks the camera as required for trajectory recovery and notes that its stream is off by default to save battery, so it must be switched on before recording episodes for the pipeline. Two AS5600L encoders measure the proximal and distal finger joints, and a Grove LED button starts and stops recording. Each device is built as a left or right hand, chosen at install time. The software is tested on Raspberry Pi OS Bookworm and Trixie and serves a dashboard on port 8000. The BOM also lists a PiSugar3+ battery, a 128 GB SD card and a Raspberry Pi HAT. [S006] [S008]
From recording to dataset
grabette-postprocess runs offline RTAB-Map visual-inertial SLAM in a locally built Docker image to recover camera trajectories, then writes LeRobot v3 datasets as Parquet and MP4. The device README also mentions uploading episodes to Hugging Face "for cloud SLAM processing"; the inspected postprocess guide documents only the local Docker route. Python requirements need checking: the root README says postprocessing needs Python 3.12 or newer, while the postprocess README says 3.11 or newer. Diffusion Policy and π0.5 training integrations are included. [S001] [S006] [S007]
Cost scope
The Grabette tab of the published BOM totals €585.03 (US$655.88) for one device. The OAK-D SR accounts for €293.46 of that, about half. Printed parts and filament, the workstation and any target robot are not in the sheet. These are the sheet's figures, not re-quoted prices. [S008]
Sources and licenses
The repository carries an Apache-2.0 LICENSE, a NOTICE crediting Pollen Robotics and a third-party notices file listing RTAB-Map (BSD-3-Clause), DepthAI (MIT), OpenArm and LeRobot (Apache-2.0) and onshape-to-robot (MIT). The device package has its own Apache-2.0 LICENSE, and its assembly folder holds left and right STEP part files. The STL copies, the assembly PDF and the print-guide PDF are Git LFS pointers in the archive. The print guide's payload was retrieved separately and matches its pointer checksum; it splits parts across PLA, PETG and TPU soft tips, with 0.2 mm layers and 30 to 100% infill depending on the part. The 24.7 MB assembly PDF and the STL payloads were not preserved, and STEP geometry was not inspected. The full CAD is an external Onshape document; whether the Apache-2.0 grant covers it is not established. [S001] [S003] [S004] [S005] [S006] [S009] [S012]
Release v1.0.1 was published on July 21, 2026, from a commit dated July 17; the repository had 118 GitHub stars at retrieval, a dated popularity signal only, and its default branch has moved on since the release. [S002]
Cost
| Version | Price |
|---|---|
| One Grabette handheld device (Grabette tab of the published BOM) | EUR 585.03 [S008] Parts estimate |
Upstream EUR column (USD column also given) · Checked 2026-10-05
| Included | Raspberry Pi 4 (4 GB); OAK-D SR; PiSugar3+; Arducam B0404; 128 GB SD card; Angle sensor modules, HAT, switch, cables, magnets, bushings, screws |
|---|---|
| Not included | Printed parts and filament; Post-processing workstation; Target robot and Gripette; Shipping and taxes |
| Stock | Supplier stock not rechecked. |
| Delivery and tax | Not established. |
Price details
Published BOM total for one handheld device; sheet also gives US$655.88. OAK-D SR is €293.46 of the total. Not re-quoted.
Upstream EUR column (USD column also given) · Checked 2026-10-05 · Quantity 1
Printed parts; workstation with Docker; a robot for deployment.
Source files and licenses
Software, documentation and STEP part files are released under Apache-2.0 with notices; the full Onshape CAD is external, and STL and assembly-guide payloads sit in Git LFS.
| Layer | Availability / license |
|---|---|
| mechanical design | available · Apache-2.0 Left and right STEP part files in packages/grabette/assembly under the package Apache-2.0 LICENSE; STL copies are LFS pointers. Full Onshape CAD is external and not preserved; its license coverage is not established. STEP geometry not inspected. [S001] [S006] [S009] |
| electronics | not found · License not fully assessed Off-the-shelf modules (Pi 4, OAK-D SR, encoders, HAT); no custom PCB or wiring design files identified. [S006] [S008] |
| software | available · Apache-2.0 Device service, post-processing and integrations; third-party components listed with their own licenses. [S001] [S003] [S004] [S005] |
| documentation | available · Apache-2.0 Package READMEs and docs in the repository. [S001] [S003] [S006] |
Device runs Python services on Raspberry Pi OS; no microcontroller firmware in the handheld configuration.
No trained weights distributed in the inspected sources.
Users record their own; no dataset distributed in the inspected sources.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · Pollen Robotics / GRABETTE contributors
GRABETTE README
Accessed 2026-10-05 · README.md at release v1.0.1 (dcad06fbd7bf0e80fb2e36b375b1b3dd49d008bc)Source notes
Toolkit purpose, components, BOM and Onshape links, LFS note, development requirements, license.
- S002 · Pollen Robotics / GRABETTE contributors
Release v1.0.1 and acquisition metadata
Accessed 2026-10-05 · GitHub release v1.0.1 published 2026-07-21; tagged commit dcad06fbd7bf0e80fb2e36b375b1b3dd49d008bc dated 2026-07-17; manifest retrieved 2026-10-05Source notes
Latest stable release selected; archive SHA-256 recorded; dated repository popularity.
- S003 · Pollen Robotics / GRABETTE contributors
GRABETTE license
Accessed 2026-10-05 · LICENSE (Apache License 2.0 text)Source notes
Repository license file.
- S004 · Pollen Robotics / GRABETTE contributors
GRABETTE NOTICE
Accessed 2026-10-05 · NOTICESource notes
Copyright 2026 Pollen Robotics; Apache-2.0; third-party notice pointer.
- S005 · Pollen Robotics / GRABETTE contributors
GRABETTE third-party notices
Accessed 2026-10-05 · THIRD_PARTY_NOTICES.mdSource notes
Third-party components and licenses.
- S006 · Pollen Robotics / GRABETTE contributors
Grabette device package README
Accessed 2026-10-05 · packages/grabette/README.mdSource notes
Handheld hardware table, BOM/CAD/assembly links, Raspberry Pi install, hand selection, dashboard.
- S007 · Pollen Robotics / GRABETTE contributors
grabette-postprocess README
Accessed 2026-10-05 · packages/grabette-postprocess/README.mdSource notes
Offline RTAB-Map SLAM in Docker and LeRobot v3 dataset generation.
- S008 · Pollen Robotics / GRABETTE contributors
Grabette bill of materials (published Google Sheet, Grabette tab)
Accessed 2026-10-05 · CSV of the published Grabette tab (gid 0); snapshot sha256 e4b87742d817… retrieved 2026-10-05Source notes
Per-part EUR and USD prices and device total.
- S009 · Pollen Robotics / GRABETTE contributors
Release archive inventory and LFS check
Accessed 2026-10-05 · Filename inventory of the v1.0.1 archive (800 members), .gitattributes, LFS pointer files and packages/grabette/LICENSESource notes
Left/right STEP part files present; STL meshes and assembly/print PDFs are Git LFS pointers; package-level Apache-2.0 LICENSE.
- S010 · Pollen Robotics / GRABETTE contributors
Gripette package README
Accessed 2026-10-05 · packages/gripette/README.mdSource notes
Robot-mounted gripper hardware: Pi Zero 2W, camera, two STS3215 servos, optional OAK-D SR.
- S012 · Pollen Robotics SAS
Grabette 3D print guide (PDF, LFS payload)
Accessed 2026-10-05 · LFS payload fetched from media.githubusercontent.com at dcad06fbd7bf0e80fb2e36b375b1b3dd49d008bc; sha256 9a75d40f3900… matches the pointer OIDSource notes
Material and print settings per part group.
- S011 · Pollen Robotics / GRABETTE contributors
OpenArm-Gripette integration README
Accessed 2026-10-05 · integrations/openarm/README.mdSource notes
Custom 7-DoF OpenArm follower with Gripette; sim/real gRPC design.
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5
Change history
2026-10-05 — Created from Growbotics-listing lead; all claims checked against preserved upstream sources. No physical build or test.