---
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

```python
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:

```bibtex
@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}
}
```