Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "S1-stationary",
"total_episodes": 99,
"total_frames": 30166,
"total_tasks": 1,
"total_videos": 396,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:99"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"command_poses_dict.astribot_arm_left": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_arm_left_0",
"astribot_arm_left_1",
"astribot_arm_left_2",
"astribot_arm_left_3",
"astribot_arm_left_4",
"astribot_arm_left_5",
"astribot_arm_left_6"
]
},
"command_poses_dict.astribot_arm_right": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_arm_right_0",
"astribot_arm_right_1",
"astribot_arm_right_2",
"astribot_arm_right_3",
"astribot_arm_right_4",
"astribot_arm_right_5",
"astribot_arm_right_6"
]
},
"command_poses_dict.astribot_chassis": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_chassis_0",
"astribot_chassis_1",
"astribot_chassis_2",
"astribot_chassis_3",
"astribot_chassis_4",
"astribot_chassis_5",
"astribot_chassis_6"
]
},
"command_poses_dict.astribot_gripper_left": {
"dtype": "float64",
"shape": [
1
],
"names": [
"astribot_gripper_left_0"
]
},
"command_poses_dict.astribot_gripper_right": {
"dtype": "float64",
"shape": [
1
],
"names": [
"astribot_gripper_right_0"
]
},
"command_poses_dict.astribot_head": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_head_0",
"astribot_head_1",
"astribot_head_2",
"astribot_head_3",
"astribot_head_4",
"astribot_head_5",
"astribot_head_6"
]
},
"command_poses_dict.astribot_torso": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_torso_0",
"astribot_torso_1",
"astribot_torso_2",
"astribot_torso_3",
"astribot_torso_4",
"astribot_torso_5",
"astribot_torso_6"
]
},
"command_poses_dict.command": {
"dtype": "float64",
"shape": [
35
],
"names": [
"command_0",
"command_1",
"command_2",
"command_3",
"command_4",
"command_5",
"command_6",
"command_7",
"command_8",
"command_9",
"command_10",
"command_11",
"command_12",
"command_13",
"command_14",
"command_15",
"command_16",
"command_17",
"command_18",
"command_19",
"command_20",
"command_21",
"command_22",
"command_23",
"command_24",
"command_25",
"command_26",
"command_27",
"command_28",
"command_29",
"command_30",
"command_31",
"command_32",
"command_33",
"command_34"
]
},
"command_poses_dict.merge_pose": {
"dtype": "float64",
"shape": [
37
],
"names": [
"merge_pose_0",
"merge_pose_1",
"merge_pose_2",
"merge_pose_3",
"merge_pose_4",
"merge_pose_5",
"merge_pose_6",
"merge_pose_7",
"merge_pose_8",
"merge_pose_9",
"merge_pose_10",
"merge_pose_11",
"merge_pose_12",
"merge_pose_13",
"merge_pose_14",
"merge_pose_15",
"merge_pose_16",
"merge_pose_17",
"merge_pose_18",
"merge_pose_19",
"merge_pose_20",
"merge_pose_21",
"merge_pose_22",
"merge_pose_23",
"merge_pose_24",
"merge_pose_25",
"merge_pose_26",
"merge_pose_27",
"merge_pose_28",
"merge_pose_29",
"merge_pose_30",
"merge_pose_31",
"merge_pose_32",
"merge_pose_33",
"merge_pose_34",
"merge_pose_35",
"merge_pose_36"
]
},
"images_dict.head.rgb": {
"dtype": "video",
"shape": [
3,
720,
1280
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"images_dict.left.rgb": {
"dtype": "video",
"shape": [
3,
360,
640
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 360,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"images_dict.right.rgb": {
"dtype": "video",
"shape": [
3,
360,
640
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 360,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"images_dict.torso.rgb": {
"dtype": "video",
"shape": [
3,
720,
1280
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"joints_dict.joints_position_command": {
"dtype": "float64",
"shape": [
25
],
"names": [
"joints_position_command_0",
"joints_position_command_1",
"joints_position_command_2",
"joints_position_command_3",
"joints_position_command_4",
"joints_position_command_5",
"joints_position_command_6",
"joints_position_command_7",
"joints_position_command_8",
"joints_position_command_9",
"joints_position_command_10",
"joints_position_command_11",
"joints_position_command_12",
"joints_position_command_13",
"joints_position_command_14",
"joints_position_command_15",
"joints_position_command_16",
"joints_position_command_17",
"joints_position_command_18",
"joints_position_command_19",
"joints_position_command_20",
"joints_position_command_21",
"joints_position_command_22",
"joints_position_command_23",
"joints_position_command_24"
]
},
"joints_dict.joints_position_state": {
"dtype": "float64",
"shape": [
25
],
"names": [
"joints_position_state_0",
"joints_position_state_1",
"joints_position_state_2",
"joints_position_state_3",
"joints_position_state_4",
"joints_position_state_5",
"joints_position_state_6",
"joints_position_state_7",
"joints_position_state_8",
"joints_position_state_9",
"joints_position_state_10",
"joints_position_state_11",
"joints_position_state_12",
"joints_position_state_13",
"joints_position_state_14",
"joints_position_state_15",
"joints_position_state_16",
"joints_position_state_17",
"joints_position_state_18",
"joints_position_state_19",
"joints_position_state_20",
"joints_position_state_21",
"joints_position_state_22",
"joints_position_state_23",
"joints_position_state_24"
]
},
"joints_dict.joints_velocity_state": {
"dtype": "float64",
"shape": [
25
],
"names": [
"joints_velocity_state_0",
"joints_velocity_state_1",
"joints_velocity_state_2",
"joints_velocity_state_3",
"joints_velocity_state_4",
"joints_velocity_state_5",
"joints_velocity_state_6",
"joints_velocity_state_7",
"joints_velocity_state_8",
"joints_velocity_state_9",
"joints_velocity_state_10",
"joints_velocity_state_11",
"joints_velocity_state_12",
"joints_velocity_state_13",
"joints_velocity_state_14",
"joints_velocity_state_15",
"joints_velocity_state_16",
"joints_velocity_state_17",
"joints_velocity_state_18",
"joints_velocity_state_19",
"joints_velocity_state_20",
"joints_velocity_state_21",
"joints_velocity_state_22",
"joints_velocity_state_23",
"joints_velocity_state_24"
]
},
"poses_dict.astribot_arm_left": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_arm_left_0",
"astribot_arm_left_1",
"astribot_arm_left_2",
"astribot_arm_left_3",
"astribot_arm_left_4",
"astribot_arm_left_5",
"astribot_arm_left_6"
]
},
"poses_dict.astribot_arm_right": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_arm_right_0",
"astribot_arm_right_1",
"astribot_arm_right_2",
"astribot_arm_right_3",
"astribot_arm_right_4",
"astribot_arm_right_5",
"astribot_arm_right_6"
]
},
"poses_dict.astribot_chassis": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_chassis_0",
"astribot_chassis_1",
"astribot_chassis_2",
"astribot_chassis_3",
"astribot_chassis_4",
"astribot_chassis_5",
"astribot_chassis_6"
]
},
"poses_dict.astribot_gripper_left": {
"dtype": "float64",
"shape": [
1
],
"names": [
"astribot_gripper_left_0"
]
},
"poses_dict.astribot_gripper_right": {
"dtype": "float64",
"shape": [
1
],
"names": [
"astribot_gripper_right_0"
]
},
"poses_dict.astribot_head": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_head_0",
"astribot_head_1",
"astribot_head_2",
"astribot_head_3",
"astribot_head_4",
"astribot_head_5",
"astribot_head_6"
]
},
"poses_dict.astribot_torso": {
"dtype": "float64",
"shape": [
7
],
"names": [
"astribot_torso_0",
"astribot_torso_1",
"astribot_torso_2",
"astribot_torso_3",
"astribot_torso_4",
"astribot_torso_5",
"astribot_torso_6"
]
},
"poses_dict.merge_pose": {
"dtype": "float64",
"shape": [
37
],
"names": [
"merge_pose_0",
"merge_pose_1",
"merge_pose_2",
"merge_pose_3",
"merge_pose_4",
"merge_pose_5",
"merge_pose_6",
"merge_pose_7",
"merge_pose_8",
"merge_pose_9",
"merge_pose_10",
"merge_pose_11",
"merge_pose_12",
"merge_pose_13",
"merge_pose_14",
"merge_pose_15",
"merge_pose_16",
"merge_pose_17",
"merge_pose_18",
"merge_pose_19",
"merge_pose_20",
"merge_pose_21",
"merge_pose_22",
"merge_pose_23",
"merge_pose_24",
"merge_pose_25",
"merge_pose_26",
"merge_pose_27",
"merge_pose_28",
"merge_pose_29",
"merge_pose_30",
"merge_pose_31",
"merge_pose_32",
"merge_pose_33",
"merge_pose_34",
"merge_pose_35",
"merge_pose_36"
]
},
"xyz_quat_state.astribot_chassis": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_state.astribot_torso": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_state.astribot_arm_left": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_state.astribot_arm_right": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_state.astribot_head": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_cmd.astribot_chassis": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_cmd.astribot_torso": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_cmd.astribot_arm_left": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_cmd.astribot_arm_right": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_quat_cmd.astribot_head": {
"dtype": "float64",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
},
"xyz_so3_state.astribot_chassis": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_state.astribot_torso": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_state.astribot_arm_left": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_state.astribot_arm_right": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_state.astribot_head": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_cmd.astribot_chassis": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_cmd.astribot_torso": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_cmd.astribot_arm_left": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_cmd.astribot_arm_right": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"xyz_so3_cmd.astribot_head": {
"dtype": "float64",
"shape": [
9
],
"names": [
"x",
"y",
"z",
"so3_0",
"so3_1",
"so3_2",
"so3_3",
"so3_4",
"so3_5"
]
},
"joint_pose_state.astribot_chassis": {
"dtype": "float64",
"shape": [
3
],
"names": [
"joint_pose_state.astribot_chassis_0",
"joint_pose_state.astribot_chassis_1",
"joint_pose_state.astribot_chassis_2"
]
},
"joint_pose_state.astribot_torso": {
"dtype": "float64",
"shape": [
4
],
"names": [
"joint_pose_state.astribot_torso_0",
"joint_pose_state.astribot_torso_1",
"joint_pose_state.astribot_torso_2",
"joint_pose_state.astribot_torso_3"
]
},
"joint_pose_state.astribot_arm_left": {
"dtype": "float64",
"shape": [
7
],
"names": [
"joint_pose_state.astribot_arm_left_0",
"joint_pose_state.astribot_arm_left_1",
"joint_pose_state.astribot_arm_left_2",
"joint_pose_state.astribot_arm_left_3",
"joint_pose_state.astribot_arm_left_4",
"joint_pose_state.astribot_arm_left_5",
"joint_pose_state.astribot_arm_left_6"
]
},
"joint_pose_state.astribot_gripper_left": {
"dtype": "float64",
"shape": [
1
],
"names": [
"joint_pose_state.astribot_gripper_left_0"
]
},
"joint_pose_state.astribot_arm_right": {
"dtype": "float64",
"shape": [
7
],
"names": [
"joint_pose_state.astribot_arm_right_0",
"joint_pose_state.astribot_arm_right_1",
"joint_pose_state.astribot_arm_right_2",
"joint_pose_state.astribot_arm_right_3",
"joint_pose_state.astribot_arm_right_4",
"joint_pose_state.astribot_arm_right_5",
"joint_pose_state.astribot_arm_right_6"
]
},
"joint_pose_state.astribot_gripper_right": {
"dtype": "float64",
"shape": [
1
],
"names": [
"joint_pose_state.astribot_gripper_right_0"
]
},
"joint_pose_state.astribot_head": {
"dtype": "float64",
"shape": [
2
],
"names": [
"joint_pose_state.astribot_head_0",
"joint_pose_state.astribot_head_1"
]
},
"joint_vel_state.astribot_chassis": {
"dtype": "float64",
"shape": [
3
],
"names": [
"joint_vel_state.astribot_chassis_0",
"joint_vel_state.astribot_chassis_1",
"joint_vel_state.astribot_chassis_2"
]
},
"joint_vel_state.astribot_torso": {
"dtype": "float64",
"shape": [
4
],
"names": [
"joint_vel_state.astribot_torso_0",
"joint_vel_state.astribot_torso_1",
"joint_vel_state.astribot_torso_2",
"joint_vel_state.astribot_torso_3"
]
},
"joint_vel_state.astribot_arm_left": {
"dtype": "float64",
"shape": [
7
],
"names": [
"joint_vel_state.astribot_arm_left_0",
"joint_vel_state.astribot_arm_left_1",
"joint_vel_state.astribot_arm_left_2",
"joint_vel_state.astribot_arm_left_3",
"joint_vel_state.astribot_arm_left_4",
"joint_vel_state.astribot_arm_left_5",
"joint_vel_state.astribot_arm_left_6"
]
},
"joint_vel_state.astribot_gripper_left": {
"dtype": "float64",
"shape": [
1
],
"names": [
"joint_vel_state.astribot_gripper_left_0"
]
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