---
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

```python
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:

```bibtex
@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.