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ros2-robot-dataset-individual

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train

The dataset viewer is not available for this split.

Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.

Error code:   FeaturesError
Exception:    ArrowInvalid
Message:      Schema at index 1 was different: 
episode_index: int64
episode_length: int64
episode_path: string
vs
episode_index: int64
episode_length: int64
total_frames: int64
duration: double
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3422, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2187, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2391, in iter
                  for key, example in iterator:
                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 1904, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 559, in _iter_arrow
                  yield new_key, pa.Table.from_batches(chunks_buffer)
                File "pyarrow/table.pxi", line 4116, in pyarrow.lib.Table.from_batches
                File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Schema at index 1 was different: 
              episode_index: int64
              episode_length: int64
              episode_path: string
              vs
              episode_index: int64
              episode_length: int64
              total_frames: int64
              duration: double

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ROS2 Robot Dataset

This dataset contains robot data extracted from ROS2 bag files and converted to LeRobot format.

Dataset Structure

Data: Parquet files containing robot states, actions, and observations
Videos: MP4 videos from camera sensors
Metadata: JSON files with dataset information

Files

videos/chunk-000/observation.images.base_camera_sensor_image_raw/episode_000000.mp4
videos/chunk-000/observation.images.arm1_camera_sensor_image_raw/episode_000000.mp4
videos/chunk-000/observation.images.arm2_camera_sensor_image_raw/episode_000000.mp4
meta/episodes_stats.jsonl
meta/episodes.jsonl
meta/tasks.jsonl
meta/info.json
data/chunk-000/episode_000000.parquet

Usage

This dataset can be used with LeRobot for robot learning tasks.

Data Format

Action: 6-DOF joint state commands
Observation: Robot states and sensor data
Images: Camera feeds from multiple viewpoints
Timestamps: Synchronized across all data streams

Generated from ROS2 bag file using the rosbag_decoder pipeline.

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