---
license: mit
task_categories:
- robotics
tags:
- LeRobot
- ROS2
- bag_all_0
- real-robot-data
---

# Real Robot Dataset from bag_all_0.db3

Real robot manipulation data extracted from bag_all_0.db3 ROS2 bag file.

## Dataset Information
- **Format**: LeRobot v2.0
- **Source**: bag_all_0.db3 
- **Robot**: SO101 Robot
- **Frames**: 100
- **Data**: Real joint positions and velocities

## Features
- **observation.state**: 7-DOF joint positions
- **action**: 7-DOF joint velocities  
- **observation.image**: Robot visualization video
- **Real timestamps** from original bag data

## Joint Statistics
- **Position Range**: [-0.3, 0.2, -2.199, 3.1, 0.7, 0.45, -0.07] to [0.1, 0.8, -1.401, 3.5, 0.9, 0.75, -0.03]
- **Velocity Range**: [-1.257, -1.885, -5.027, -1.884, -1.885, -2.356, -0.499] to [1.257, 1.885, 5.027, 1.885, 1.885, 2.356, 0.503]