README.md

metadata

license: mit
tags:
  - robotics
  - ros2
  - robot-learning
  - manipulation
  - lerobot
  - dual-arm-robot
size_categories:
  - 1K<n<10K

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.