Datasets:

Sraghvi
/

rosbag2-robotarm-dataset-v2

Error code:   FeaturesError
Exception:    ArrowInvalid
Message:      Schema at index 1 was different: 
episode_index: int64
tasks: list<item: string>
length: int64
vs
episode_index: int64
stats: struct<observation.arm2_servo_node_status_data: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.arm2_servo_node_collision_velocity_scale_data: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.rosout_level: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.rosout_line: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, timestamp: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, frame_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, episode_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>>
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3422, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2187, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2391, in iter
                  for key, example in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1882, in __iter__
                  for key, pa_table in self._iter_arrow():
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1904, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 559, in _iter_arrow
                  yield new_key, pa.Table.from_batches(chunks_buffer)
                File "pyarrow/table.pxi", line 4116, in pyarrow.lib.Table.from_batches
                File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Schema at index 1 was different: 
              episode_index: int64
              tasks: list<item: string>
              length: int64
              vs
              episode_index: int64
              stats: struct<observation.arm2_servo_node_status_data: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.arm2_servo_node_collision_velocity_scale_data: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.state: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, action: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.rosout_level: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, observation.rosout_line: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, timestamp: struct<min: list<item: double>, max: list<item: double>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, frame_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, episode_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>, task_index: struct<min: list<item: int64>, max: list<item: int64>, mean: list<item: double>, std: list<item: double>, count: list<item: int64>>>

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ROS2 Robot Arm Dataset

A comprehensive robot learning dataset created from ROS2 bag files containing dual-arm robot manipulation data.

Dataset Description

This dataset contains robot manipulation data collected from a dual-arm robotic system, processed from ROS2 bag files and formatted for use with LeRobot.

Dataset Structure

Total Episodes: 1
Total Frames: 4,245
Robot Type: Dual-arm robot
Data Source: ROS2 bag files
Processing: Automated using LeRobot pipeline

Features

The dataset includes the following observation and action features:

observation.state: Joint positions (14 joints)
observation.velocity: Joint velocities (14 joints)
observation.effort: Joint efforts (14 joints)
action: Robot actions (14 joints)

Additional observation features from various ROS2 topics:

observation.rosout_*: Logging and debug information
observation.arm1_servo_node_*: Left arm servo status
observation.arm2_servo_node_*: Right arm servo status
observation.arm2_controller_joint_trajectory_*: Joint trajectory data
observation.tf_transforms: Coordinate transforms
observation.robot_description_data: Robot model data

Data Collection

Robot: Dual-arm robotic system
Topics: All available ROS2 topics from the bag file
Message Types: JointState, Twist, Image, IMU, LaserScan, TF, Log, and custom messages
Sampling Rate: 30 FPS
Duration: ~2.4 minutes of continuous data

Usage

This dataset is compatible with LeRobot and can be used for:

Robot manipulation learning
Imitation learning
Reinforcement learning
Behavior cloning
Multi-modal robot learning

Loading the Dataset

from lerobot.datasets import LeRobotDataset

# Load the dataset
dataset = LeRobotDataset.load("Sraghvi/rosbag2-robotarm-dataset-v2")

# Access episodes
episode = dataset[0]  # First episode
print(f"Episode length: {len(episode)}")
print(f"Available keys: {episode.keys()}")

Citation

If you use this dataset in your research, please cite:

@dataset{rosbag2_robotarm_dataset_2025,
  title={ROS2 Robot Arm Dataset},
  author={Sraghvi},
  year={2025},
  url={https://huggingface.co/datasets/Sraghvi/rosbag2-robotarm-dataset-v2}
}

License

This dataset is released under the MIT License.

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