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Datasets:
Sraghvi
/
rosbag2-robotarm-dataset-standard

Modalities:
Tabular
Formats:
parquet
Size:
1K - 10K
Tags:
robotics
ros2
robot-learning
manipulation
lerobot
dual-arm-robot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
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Search is not available for this dataset
The dataset viewer is not available for this split.
Cannot load the dataset split (in normal download mode) to extract the first rows.
Error code:   NormalRowsError
Exception:    DatasetGenerationError
Message:      An error occurred while generating the dataset
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
                  return get_rows(
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
                  rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2361, in __iter__
                  for key, example in ex_iterable:
                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 1905, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 499, in _iter_arrow
                  for key, pa_table in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 346, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/parquet/parquet.py", line 106, in _generate_tables
                  yield f"{file_idx}_{batch_idx}", self._cast_table(pa_table)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/parquet/parquet.py", line 73, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2272, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              frame_id: int64
              timestamp: double
              episode_index: int64
              frame_index: int64
              task_index: int64
              observation.arm2_servo_node_status_data: double
              observation.arm2_controller_joint_trajectory_header: string
              observation.arm2_controller_joint_trajectory_joint_names: string
              observation.arm2_controller_joint_trajectory_points: string
              observation.arm2_servo_node_collision_velocity_scale_data: double
              observation.state: list<element: double>
                child 0, element: double
              action: list<element: double>
                child 0, element: double
              observation.tf_transforms: string
              observation.robot_description_data: string
              observation.rosout_stamp: string
              observation.rosout_level: double
              observation.rosout_name: string
              observation.rosout_msg: string
              observation.rosout_file: string
              observation.rosout_function: string
              observation.rosout_line: double
              -- schema metadata --
              pandas: '{"index_columns": [], "column_indexes": [], "columns": [{"name":' + 3286
              to
              {'frame_id': Value('int64'), 'timestamp': Value('float64'), 'episode_index': Value('int64'), 'frame_index': Value('int64'), 'task_index': Value('int64'), 'observation.state': Value('float32'), 'action': Value('float32')}
              because column names don't match
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1815, in _prepare_split_single
                  for _, table in generator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/parquet/parquet.py", line 106, in _generate_tables
                  yield f"{file_idx}_{batch_idx}", self._cast_table(pa_table)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/parquet/parquet.py", line 73, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2272, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2218, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              frame_id: int64
              timestamp: double
              episode_index: int64
              frame_index: int64
              task_index: int64
              observation.arm2_servo_node_status_data: double
              observation.arm2_controller_joint_trajectory_header: string
              observation.arm2_controller_joint_trajectory_joint_names: string
              observation.arm2_controller_joint_trajectory_points: string
              observation.arm2_servo_node_collision_velocity_scale_data: double
              observation.state: list<element: double>
                child 0, element: double
              action: list<element: double>
                child 0, element: double
              observation.tf_transforms: string
              observation.robot_description_data: string
              observation.rosout_stamp: string
              observation.rosout_level: double
              observation.rosout_name: string
              observation.rosout_msg: string
              observation.rosout_file: string
              observation.rosout_function: string
              observation.rosout_line: double
              -- schema metadata --
              pandas: '{"index_columns": [], "column_indexes": [], "columns": [{"name":' + 3286
              to
              {'frame_id': Value('int64'), 'timestamp': Value('float64'), 'episode_index': Value('int64'), 'frame_index': Value('int64'), 'task_index': Value('int64'), 'observation.state': Value('float32'), 'action': Value('float32')}
              because column names don't match
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 126, in get_rows_or_raise
                  return get_rows(
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 61, in get_rows
                  ds = load_dataset(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1412, in load_dataset
                  builder_instance.download_and_prepare(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 894, in download_and_prepare
                  self._download_and_prepare(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 970, in _download_and_prepare
                  self._prepare_split(split_generator, **prepare_split_kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1702, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1858, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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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.

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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
688 kB
Number of rows:
4,245