metadata
license: mit
task_categories:
- robotics
language:
- en
size_categories:
- n<1K
tags:
- robotics
- manipulation
- dual-arm
- buster-robot
- lerobot
- isaac-sim
Buster Dual-Arm Robot Dataset
This dataset contains demonstration data from a Buster dual-arm robot system recorded in Isaac Sim.
Dataset Details
- Robot Type: Buster Dual-Arm (2x UR arms + 2x Robotiq 3F grippers)
- Total Episodes: 1
- Total Frames: 352
- FPS: 8.62
- Video Resolution: 1280x720x3 (RGB)
- State Dimensions: 34 joints
- Action Dimensions: 34 joints
Robot Configuration
Arms
- Arm 1: UR arm (6 DOF)
- Arm 2: UR arm (6 DOF)
Grippers
- Gripper 1: Robotiq 3F gripper (11 joints)
- Gripper 2: Robotiq 3F gripper (11 joints)
Sensors
- Base Camera: RGB camera providing visual observations
- Joint States: Position feedback from all joints
- Joint Commands: Action commands sent to robot
Data Format
This dataset follows the LeRobot v2.1 format:
- State: Joint positions (34D vector)
- Action: Joint commands (34D vector)
- Video: RGB observations from base camera
- Metadata: Task descriptions, episode info, statistics
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
# Load the dataset
dataset = LeRobotDataset("noskiper-chwy/buster-dual-arm-demo")
# Access data
first_frame = dataset[0]
state = first_frame["observation.state"]
action = first_frame["action"]
Recording Environment
- Simulator: Isaac Sim
- Topics Recorded:
/joint_states- Robot state/isaac_joint_commands- Robot commands/base_camera_sensor/image_raw- Visual observations
Limitations
- Single episode demonstration
- No task descriptions (using "Unknown Task")
- Modality configuration treats all joints as single arm (should be split for dual-arm)
Citation
If you use this dataset, please cite:
@dataset{buster_dual_arm_demo,
title={Buster Dual-Arm Robot Demonstration Dataset},
author={noskiper},
year={2025},
url={https://huggingface.co/datasets/noskiper-chwy/buster-dual-arm-demo}
}