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--- |
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license: mit |
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tags: |
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- robotics |
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- ros2 |
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- robot-learning |
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- manipulation |
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- lerobot |
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- dual-arm-robot |
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size_categories: |
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- 1K<n<10K |
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--- |
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# ROS2 Robot Arm Dataset |
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A comprehensive robot learning dataset created from ROS2 bag files containing dual-arm robot manipulation data. |
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## Dataset Description |
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This dataset contains robot manipulation data collected from a dual-arm robotic system, processed from ROS2 bag files and formatted for use with LeRobot. |
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### Dataset Structure |
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- **Total Episodes**: 1 |
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- **Total Frames**: 4,245 |
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- **Robot Type**: Dual-arm robot |
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- **Data Source**: ROS2 bag files |
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- **Processing**: Automated using LeRobot pipeline |
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### Features |
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The dataset includes the following observation and action features: |
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- **observation.state**: Joint positions (14 joints) |
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- **observation.velocity**: Joint velocities (14 joints) |
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- **observation.effort**: Joint efforts (14 joints) |
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- **action**: Robot actions (14 joints) |
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Additional observation features from various ROS2 topics: |
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- **observation.rosout_***: Logging and debug information |
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- **observation.arm1_servo_node_***: Left arm servo status |
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- **observation.arm2_servo_node_***: Right arm servo status |
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- **observation.arm2_controller_joint_trajectory_***: Joint trajectory data |
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- **observation.tf_transforms**: Coordinate transforms |
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- **observation.robot_description_data**: Robot model data |
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### Data Collection |
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- **Robot**: Dual-arm robotic system |
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- **Topics**: All available ROS2 topics from the bag file |
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- **Message Types**: JointState, Twist, Image, IMU, LaserScan, TF, Log, and custom messages |
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- **Sampling Rate**: 30 FPS |
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- **Duration**: ~2.4 minutes of continuous data |
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### Usage |
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This dataset is compatible with LeRobot and can be used for: |
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- Robot manipulation learning |
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- Imitation learning |
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- Reinforcement learning |
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- Behavior cloning |
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- Multi-modal robot learning |
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### Loading the Dataset |
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```python |
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from lerobot.datasets import LeRobotDataset |
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# Load the dataset |
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dataset = LeRobotDataset.load("Sraghvi/rosbag2-robotarm-dataset-v2") |
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# Access episodes |
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episode = dataset[0] # First episode |
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print(f"Episode length: {len(episode)}") |
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print(f"Available keys: {episode.keys()}") |
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``` |
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### Citation |
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If you use this dataset in your research, please cite: |
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```bibtex |
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@dataset{rosbag2_robotarm_dataset_2025, |
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title={ROS2 Robot Arm Dataset}, |
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author={Sraghvi}, |
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year={2025}, |
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url={https://huggingface.co/datasets/Sraghvi/rosbag2-robotarm-dataset-v2} |
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} |
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``` |
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### License |
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This dataset is released under the MIT License. |
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