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--- |
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tags: |
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- robot-learning |
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- ros2 |
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- lerobot |
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- robot-manipulation |
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library_name: datasets |
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--- |
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# Robot Arm Dataset (HuggingFace Viewable) |
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This dataset contains robot manipulation data extracted from a ROS2 bag file, processed into a HuggingFace-compatible format for easy viewing and analysis. |
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## Dataset Contents |
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The dataset includes various sensor and control data from a robot arm: |
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- **Joint States**: Position, velocity, and effort of robot joints |
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- **TF Transforms**: Robot's kinematic state |
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- **Robot Description**: URDF and SRDF data |
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- **Logging Information**: Rosout messages |
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- **Servo Node Status**: Status information from the robot's servo nodes |
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- **Controller Trajectory**: Joint trajectory commands and states |
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## Data Format |
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This dataset is in HuggingFace datasets format with: |
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- **4,245 samples** of robot manipulation data |
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- **Train split** with all data |
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- Compatible with HuggingFace dataset viewer |
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- Each sample contains observations and actions |
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## Usage |
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You can load this dataset using HuggingFace datasets: |
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## Data Structure |
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Each sample contains: |
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- : Joint positions (14 values) |
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- : Joint actions (14 values) |
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- : Various sensor data |
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- : Time information |
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- : Frame number |
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- : Episode number |
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## Visualization |
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This dataset is compatible with HuggingFace's dataset viewer for interactive exploration. |
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## License |
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[Specify your dataset license here, e.g., MIT, Apache 2.0, etc.] |
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