---
license: cc-by-nc-4.0
language:
- en
---
# COMMAND Dataset

This is the README for the **COMMAND** dataset.

## Dataset Structure

The **COMMAND_dataset** is organized as follows:
```
COMMAND_dataset/
├─ README.md                      # Documentation for the dataset
├─ map_asset/                     # Directory containing map assets
│  ├─ map_list.yml                # Information of all maps
│  └─ maps/                       # Folder containing individual maps
│     └─ <map_name>/             # Folder for a specific map
│        ├─ .png          # Image representation of the map
│        └─ .yml          # Map info (for ROS map server)
├─ bagfiles/                      # Directory containing ROS bagfiles
│  └─ .bag                  # ROS bagfile with unique identifier
├─ scenarios/                     # Directory containing scenario information
│  ├─.json                 # Scenario schema
└─ └─.npy              # Sketch instructions
```

---

## Dataset Overview
### Statistics

| Environment        | Office (sim_office) | Street (Road) (sim_street_road) | Street (Sidewalk) (sim_street_sidewalk) | Orchard (sim_orchard) |
|--------------------|---------------------|---------------------------------|-----------------------------------------|-----------------------|
| Count              | 2,253               | 400                             | 402                                     | 262                   |
| Avg. Time          | 31s                 | 57s                             | 103s                                    | 172s                  |
| Avg. Distance      | 32.8m               | 80.4m                           | 150.0m                                  | 191.6m                |
| Avg. FD (P / M)    | 1.05 / 1.77         | 0.97 / 2.02                     | 3.03 / 3.50                             | 1.91 / 3.76           |
| % of Misleading    | 31%                 | 51%                             | 50%                                     | 39%                   |

**Note:** These values differ slightly from the paper because the data version history is missing.

## Directory Details

### `map_asset/`

- **`map_list.yml`**: Contains metadata about all maps in the dataset.
- **`maps/`**: Holds individual map folders. Each folder typically includes:
  - **`.png`**: An image representation of the map.
  - **`.yml`**: Detailed map information (compatible with the [ROS map server](http://wiki.ros.org/map_server)).

### `bagfiles/`

- Contains ROS bagfiles, each identified by a unique UUID (e.g., **`<uuid>.bag`**).


### `scenarios/`

- **`<uuid>.json`**: Scenario schema file describing the scenario.
- **`<uuid>.npy`**: Scenario annotations(sketch instructions). It contains a list of (y, x) pixel coordinates on the corresponding `sketch_map_name` map image.

---

### Topics in ROS Bagfiles
1. **`/clock`**
   - **Message Type**: `rosgraph_msgs/msg/Clock`
   - **Description**: Publishes the current simulated time in a ROS system. Useful for synchronizing sensor data and events in simulation.

2. **`/cmd_vel`**
   - **Message Type**: `geometry_msgs/msg/Twist`
   - **Description**: Represents commanded linear and angular velocities for a robot, typically used to drive mobile robots (e.g., differential drive, holonomic platforms).

3. **`/imu`**
   - **Message Type**: `sensor_msgs/msg/Imu`
   - **Description**: Provides data from an Inertial Measurement Unit, including orientation (as a quaternion), angular velocity (radians/second), and linear acceleration (m/s²). Often used for state estimation and control feedback.

4. **`/joy`**
   - **Message Type**: `sensor_msgs/msg/Joy`
   - **Description**: Reports the state of joystick (gamepad) axes and buttons, enabling teleoperation or manual input to the robot.

5. **`/odom`**
   - **Message Type**: `nav_msgs/msg/Odometry`
   - **Description**: Offers an estimate of the robot’s position and velocity in free space. It is ground-truth data in simulation.

6. **`/rgb_front/camera_info`, `/rgb_left/camera_info`, `/rgb_right/camera_info`**
   - **Message Type**: `sensor_msgs/msg/CameraInfo`
   - **Description**: Contains intrinsic and extrinsic parameters of a camera.

7. **`/rgb_front/compressed`, `/rgb_left/compressed`, `/rgb_right/compressed`**
   - **Message Type**: `sensor_msgs/msg/CompressedImage`
   - **Description**: Encoded image data (JPEG/PNG) from a camera feed.

8. **`/tf`**
   - **Message Type**: `tf2_msgs/msg/TFMessage`
   - **Description**: Provides a odom to base_link transform.

### Schema of Scenario JSON
- **`semantic_uuid`**: A unique identifier for the scenario. It is a combination of the map name, the scenario name, and either “precise” or “misleading,” followed by the scenario number.
- **`map_name`**: The name of the map where the scenario is located.
- **`sketch_map_name`**: The name of the map where the sketch instructions are provided.
- **`start`**: The starting point of the robot. This can be a specific point or a random point.
- **`end`**: The ending point of the robot, predefined in annotated maps.
- **`drive_map_name`**: The name of the map that the robot uses for navigation, usually an occupancy map.
- **`model_guideline`**: Instructions for the robot to follow during the scenario. These will serve as input to the model for training.

Example

```json
{
    "semantic_uuid": "sim_office/coffee_delivery/precise/3/42",
    "map_name": "sim_office",
    "sketch_map_name": "annotated_occupancy_map",
    "start": "(random)",
    "end": "4",
    "drive_map_name": "occupancy_map",
    "model_guideline": "You are an indoor food-serving robot.\n\nYou must follow these driving instructions:\n1. You must avoid collisions.\n2. You should prioritize reaching the final destination.\n3. You should follow the Trajectory Instruction.\n    a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.\n    b. You should try to evade any identifiable obstacles.\n4. You should maintain a constant driving speed."
}
```

---
license: cc-by-nc-4.0
---