{"id":30110335,"url":"https://github.com/leggedrobotics/grand_tour_dataset","last_synced_at":"2025-08-10T04:44:43.831Z","repository":{"id":301462482,"uuid":"932295112","full_name":"leggedrobotics/grand_tour_dataset","owner":"leggedrobotics","description":"The GrandTour Dataset: A Legged Robotics Dataset in the Wild","archived":false,"fork":false,"pushed_at":"2025-07-18T07:10:32.000Z","size":60643,"stargazers_count":49,"open_issues_count":6,"forks_count":0,"subscribers_count":6,"default_branch":"main","last_synced_at":"2025-07-18T11:13:03.221Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"https://grand-tour.leggedrobotics.com/","language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-02-13T17:24:03.000Z","updated_at":"2025-07-18T07:10:36.000Z","dependencies_parsed_at":"2025-07-18T09:19:13.110Z","dependency_job_id":null,"html_url":"https://github.com/leggedrobotics/grand_tour_dataset","commit_stats":null,"previous_names":["leggedrobotics/grand_tour_dataset"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/leggedrobotics/grand_tour_dataset","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fgrand_tour_dataset","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fgrand_tour_dataset/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fgrand_tour_dataset/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fgrand_tour_dataset/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/grand_tour_dataset/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fgrand_tour_dataset/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":269677517,"owners_count":24457858,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-10T02:00:08.965Z","response_time":71,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-08-10T04:44:36.324Z","updated_at":"2025-08-10T04:44:43.825Z","avatar_url":"https://github.com/leggedrobotics.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003ch1 align=\"center\" style=\"margin-bottom: 0;\"\u003e\n  \u003cbr\u003e\n  The GrandTour Dataset\n  \u003cbr\u003e\n\u003c/h1\u003e\n\u003cp align=\"center\"\u003e\n  \u003cem\u003e\u003csmall\u003eA project brought to you by \u003ca href=\"https://rsl.ethz.ch/\"\u003eRSL - ETH Zurich\u003c/a\u003e.\u003c/small\u003e\u003c/em\u003e\n\u003c/p\u003e\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"#references\"\u003eReferences\u003c/a\u003e •\n  \u003ca href=\"#hugging-face-instructions\"\u003eHugging Face\u003c/a\u003e •\n  \u003ca href=\"#ros1-instructions\"\u003eROS1\u003c/a\u003e •\n  \u003ca href=\"#contributing\"\u003eContributing\u003c/a\u003e  •\n  \u003ca href=\"#citation\"\u003eCitation\u003c/a\u003e\n\u003c/p\u003e\n\n## References\n\nMore instructions can be found on the [official webpage](https://grand-tour.leggedrobotics.com/).\n\n- Recording Setup\n- Dataset Explorer\n- Benchmarks\n\n## Projects using the GrandTour Dataset\n\n| Project                                                                                                  | Preview                                                                                           |\n| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- |\n| [**Physical Terrain Parameters Learning**](https://github.com/leggedrobotics/physical_terrain_parameter_learning) \u003cbr\u003e *Learning simulation paramters from RGB and proprioception.*   | \u003cimg src=\"assets/projects/chen2024.png\" height=\"64\"/\u003e |\n| [**Fordward Dynamics Model Learning**](https://github.com/leggedrobotics/fdm) \u003cbr\u003e *Learning dynamics model.* | \u003cimg src=\"assets/projects/roth2025.png\" height=\"64\"/\u003e |\n| [**Holistic Fusion**](https://github.com/leggedrobotics/holistic_fusion) \u003cbr\u003e *Holistic State Estimation.*              |  \u003cimg src=\"assets/projects/nubert2025.png\" height=\"64\"/\u003e|\n| [**RESPLE: Recursive Spline LIO**](https://asig-x.github.io/resple_web/) \u003cbr\u003e *SoTA LiDAR Inertial Odometry.*              | \u003cimg src=\"assets/projects/cao2025.png\" height=\"64\"/\u003e |\n\n\n## Hugging Face Instructions (Data comeing soon)\n\nYou can find Jupyter Notebooks with full instructions in the [`examples_hugging_face`](./examples_hugging_face).  \nRequirements: Python\u003e=3.11\nExamples Tested with: zarr==3.0.7\n\n\u003cdetails\u003e\n\u003csummary\u003e Installation Instructions (UV with no preinstalled Python 3.11)\u003c/summary\u003e\n\n#### Step 1: Install `uv` for Dependency Management\n\n```bash\npip3 install uv\nuv install\n```\n\n#### Step 2: Install Python 3.11 (if not already installed)\n\n```bash\nsudo add-apt-repository ppa:deadsnakes/ppa\nsudo apt update\nsudo apt install -y python3.11 python3.11-venv python3.11-distutils\n```\n\n#### Step 3: Set Up the Virtual Environment\n\n```bash\ncd ~/git/grand_tour_dataset/examples_hugging_face\nmkdir .venv; cd .venv\npython3.11 -m venv grandtour\nsource grandtour/bin/activate\ncd ..; uv pip install -r pyproject.toml\njupyter notebook\n```\n\n\u003c/details\u003e\n\nList of examples:\n\n- [Accessing GrandTour Data](./examples_hugging_face/[0]_Accessing_GrandTour_Data.ipynb)\n- [Exploring GrandTour Data](./examples_hugging_face/[1]_Exploring_GrandTour_Data.ipynb)\n\n## ROS1 Instructions\n\n### Downloading Rosbags\n\nTo access and download the GrandTour dataset rosbags, please follow these steps:\n\n#### 1. Register for Access\n\n- **Register here:** [Google Form Registration](https://forms.gle/2qJkGYJ6oxnBvdNq9)\n\n#### 2. Download Rosbags\n\n**Option 1 – Command Line Interface (Recommended):**\n\nInstall the CLI tool and log in:\n\n```bash\npip3 install kleinkram\nklein login\n```\n\n- You can now explore the CLI using tab-completion or the `--help` flag.\n\n**Download multiple files via Python scripting:**\n\n```bash\npython3 examples_kleinkram/kleinkram_cli_example.py\n```\n\n**Directly convert rosbags to PNG images (requires ROS1 installation):**\n\n```bash\npython3 examples_kleinkram/kleinkram_extract_images.py\n```\n\n---\n\n**Option 2 – Web Interface:**\n\n- Use the [GrandTour Dataset Web Interface](https://datasets.leggedrobotics.com/#/) to browse and download data directly.\n\n---\n\n### Create Folders\n\n```shell\nmkdir -p ~/grand_tour_ws/src\nmkdir -p ~/git\n```\n\n### Clone and Link Submodules\n\u003e **⚠️ Note:** The `grand_tour_box` repository is currently private. We are actively working on making it public.\n\n```shell\n# Cloning the repository\ncd ~/git\ngit clone git@github.com:leggedrobotics/grand_tour_dataset.git\ncd grand_tour_dataset; git submodule update --init\n\n# Checkout only the required packages from the grand_tour_box repository for simplicity\ncd ~/git/grand_tour_dataset/examples_ros1/submodules/grand_tour_box\ngit sparse-checkout init --cone\ngit sparse-checkout set box_model box_calibration box_drivers/anymal_msgs box_drivers/gnss_msgs\n\n# Link the repository to the workspace\nln -s ~/git/grand_tour_dataset/examples_ros1 ~/grand_tour_ws/src/\n```\n\n### Setup and Build Catkin Workspace\n\n```shell\ncd ~/grand_tour_ws\ncatkin init\ncatkin config --extend /opt/ros/noetic\ncatkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo\ncatkin build grand_tour_ros1\nsource devel/setup.bash\n```\n\n### Download Example Mission\n\n```shell\nmkdir -p ~/grand_tour_ws/src/examples_ros1/data\ncd ~/grand_tour_ws/src/examples_ros1/data\npip3 install kleinkram\nklein login\nklein download --mission 3c97a27e-4180-4e40-b8af-59714de54a87\n```\n\n### Run the Example\n\n#### Terminal 1: Launch LiDARs\n\n```shell\nroslaunch grand_tour_ros1 lidars.launch\n\n# URDFs are automaticlly loaded by:\n#    Boxi:     box_model box_model.launch\n#    ANYmal:   anymal_d_simple_description load.launch\n```\n\n#### Terminal 2: Replay Bags\n\n```shell\ncd ~/grand_tour_ws/src/examples_ros1/data\n# We provide an easy interface to replay the bags\nrosrun grand_tour_ros1 rosbag_play.sh --help\nrosrun grand_tour_ros1 rosbag_play.sh --lidars --tf_model\n\n# We provide two tf_bags\n#   tf_model contains frames requred for UDRF model of ANYmal and Boxi.\n#   tf_minimal contains only core sensor frames.\n```\n\nYou can also try the same for `cameras.launch`.\n\n**Example Output:**\n\n| **LiDAR Visualization**                                                                                 | **Camera Visualization**                                                                               |\n| ------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------ |\n| ![LiDAR Visualization](assets/rviz-lidar.gif) \u003cbr\u003e _Visualization of LiDAR data using `lidars.launch`._ | ![Camera Visualization](assets/rviz-camera.gif) \u003cbr\u003e _Visualization of images using `cameras.launch`._ |\n\n#### Image Uncompression and Rectification\n\nWe provide a launch file to uncompress images and publish rectified images. Install the required dependencies:\n\n```shell\nsudo apt-get install ros-noetic-image-transport\nsudo apt-get install ros-noetic-compressed-image-transport\n```\n\n```shell\nroslaunch grand_tour_ros1 cameras_helpers.launch\n```\n\n#### IMUs Visualization\n\nWe use rqt-multiplot to visualize the IMU measurments.\n\nInstall [rqt_multiplot](https://wiki.ros.org/rqt_multiplot):\n\n```shell\nsudo apt-get install ros-noetic-rqt-multiplot -y\n```\n\nStart rqt_multiplot and replay the bags:\n\n```shell\nroslaunch grand_tour_ros1 imus.launch\n```\n\n```shell\ncd ~/grand_tour_ws/src/examples_ros1/data\nrosrun grand_tour_ros1 rosbag_play.sh --imus --ap20\n```\n\n**Example Output:**\n![assets/rqt-multiplot.png](assets/rqt-multiplot.png)\n\n## Contributing\n\nWe warmly welcome contributions to help us improve and expand this project. Whether you're interested in adding new examples, enhancing existing ones, or simply offering suggestions — we'd love to hear from you! Feel free to open an issue or reach out directly.\n\nWe are particularly looking for contributions in the following areas:\n\n- New and interesting benchmarks\n- ROS2 integration and conversion\n- Visualization tools (e.g., Viser, etc.)\n- Hosting and deployment support in Asia\n\n### Upcoming Plans\n\nWe're organizing a workshop at ICRA 2026 in Vienna and are currently looking for co-organizers and collaborators. We are also planning to write a community paper about this project. Everyone who contributes meaningfully will be included as a co-author.\n\nLet’s build this together — your input matters!\n\n## Citation\n\n```bibtex\n@INPROCEEDINGS{Tuna-Frey-Fu-RSS-25,\n    AUTHOR    = {Jonas Frey AND Turcan Tuna AND Lanke Frank Tarimo Fu AND Cedric Weibel AND Katharine Patterson AND Benjamin Krummenacher AND Matthias Müller AND Julian Nubert AND Maurice Fallon AND Cesar Cadena AND Marco Hutter},\n    TITLE     = {{Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics}},\n    BOOKTITLE = {Proceedings of Robotics: Science and Systems},\n    YEAR      = {2025},\n    ADDRESS   = {Los Angeles, United States},\n    MONTH     = {June}\n}\n```\n\n\\*shared first authorship: Frey, Tuna, Fu.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fgrand_tour_dataset","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Fgrand_tour_dataset","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fgrand_tour_dataset/lists"}