Sraghvi/rosbag2-robotarm-dataset-standard

ROS2 Robot Arm Dataset (Standard Format)

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 both LeRobot and standard HuggingFace datasets.

Dataset Structure

• —Total Frames: 4,245
• —Episodes: 1
• —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

Standard HuggingFace Dataset

from datasets import load_dataset

# Load the dataset
dataset = load_dataset("Sraghvi/rosbag2-robotarm-dataset-standard")

# Access data
print(dataset['train'][0])  # First frame
print(f"Total frames: {len(dataset['train'])}")

LeRobot Dataset

from lerobot.datasets import LeRobotDataset

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

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

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-standard}
}

License

This dataset is released under the MIT License.