---
tags:
- robot-learning
- ros2
- lerobot
- robot-manipulation
library_name: datasets
---

# Robot Arm Dataset (HuggingFace Viewable)

This dataset contains robot manipulation data extracted from a ROS2 bag file, processed into a HuggingFace-compatible format for easy viewing and analysis.

## Dataset Contents

The dataset includes various sensor and control data from a robot arm:

- **Joint States**: Position, velocity, and effort of robot joints
- **TF Transforms**: Robot's kinematic state  
- **Robot Description**: URDF and SRDF data
- **Logging Information**: Rosout messages
- **Servo Node Status**: Status information from the robot's servo nodes
- **Controller Trajectory**: Joint trajectory commands and states

## Data Format

This dataset is in HuggingFace datasets format with:
- **4,245 samples** of robot manipulation data
- **Train split** with all data
- Compatible with HuggingFace dataset viewer
- Each sample contains observations and actions

## Usage

You can load this dataset using HuggingFace datasets:



## Data Structure

Each sample contains:
- : Joint positions (14 values)
- : Joint actions (14 values)  
- : Various sensor data
- : Time information
- : Frame number
- : Episode number

## Visualization

This dataset is compatible with HuggingFace's dataset viewer for interactive exploration.

## License

[Specify your dataset license here, e.g., MIT, Apache 2.0, etc.]