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README.md
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---
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license: mit
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tags:
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- robotics
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- ros2
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- lerobot
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- manipulation
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---
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# ROS2 Robot Dataset
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This dataset contains robot data extracted from ROS2 bag files and converted to LeRobot format.
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## Dataset Structure
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- **Data**: Parquet files containing robot states, actions, and observations
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- **Videos**: MP4 videos from camera sensors
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- **Metadata**: JSON files with dataset information
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## Files
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- videos/chunk-000/observation.images.base_camera_sensor_image_raw/episode_000000.mp4
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- videos/chunk-000/observation.images.arm1_camera_sensor_image_raw/episode_000000.mp4
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- videos/chunk-000/observation.images.arm2_camera_sensor_image_raw/episode_000000.mp4
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- meta/episodes_stats.jsonl
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- meta/episodes.jsonl
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- meta/tasks.jsonl
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- meta/info.json
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- data/chunk-000/episode_000000.parquet
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## Usage
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This dataset can be used with LeRobot for robot learning tasks.
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## Data Format
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- **Action**: 6-DOF joint state commands
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- **Observation**: Robot states and sensor data
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- **Images**: Camera feeds from multiple viewpoints
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- **Timestamps**: Synchronized across all data streams
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Generated from ROS2 bag file using the rosbag_decoder pipeline.
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