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

# Universal Robot Arm Dataset (LeRobot Format)

This dataset contains robot manipulation data extracted from a ROS2 bag file, processed into LeRobot format for robot learning applications.

## 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 LeRobot format with:
- : Contains episode data in parquet format
- : Contains metadata and info files
- Compatible with LeRobot visualization and training tools

## Usage

You can load this dataset using LeRobot:



## Visualization

This dataset is compatible with the LeRobot visualizer for data exploration and analysis.

## License

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