| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "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", |
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| 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" |
| ] |
| }, |
| "joint_vel_state.astribot_arm_right": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_vel_state.astribot_arm_right_0", |
| "joint_vel_state.astribot_arm_right_1", |
| "joint_vel_state.astribot_arm_right_2", |
| "joint_vel_state.astribot_arm_right_3", |
| "joint_vel_state.astribot_arm_right_4", |
| "joint_vel_state.astribot_arm_right_5", |
| "joint_vel_state.astribot_arm_right_6" |
| ] |
| }, |
| "joint_vel_state.astribot_gripper_right": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_vel_state.astribot_gripper_right_0" |
| ] |
| }, |
| "joint_vel_state.astribot_head": { |
| "dtype": "float64", |
| "shape": [ |
| 2 |
| ], |
| "names": [ |
| "joint_vel_state.astribot_head_0", |
| "joint_vel_state.astribot_head_1" |
| ] |
| }, |
| "joint_pose_cmd.astribot_chassis": { |
| "dtype": "float64", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "joint_pose_cmd.astribot_chassis_0", |
| "joint_pose_cmd.astribot_chassis_1", |
| "joint_pose_cmd.astribot_chassis_2" |
| ] |
| }, |
| "joint_pose_cmd.astribot_torso": { |
| "dtype": "float64", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "joint_pose_cmd.astribot_torso_0", |
| "joint_pose_cmd.astribot_torso_1", |
| "joint_pose_cmd.astribot_torso_2", |
| "joint_pose_cmd.astribot_torso_3" |
| ] |
| }, |
| "joint_pose_cmd.astribot_arm_left": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_pose_cmd.astribot_arm_left_0", |
| "joint_pose_cmd.astribot_arm_left_1", |
| "joint_pose_cmd.astribot_arm_left_2", |
| "joint_pose_cmd.astribot_arm_left_3", |
| "joint_pose_cmd.astribot_arm_left_4", |
| "joint_pose_cmd.astribot_arm_left_5", |
| "joint_pose_cmd.astribot_arm_left_6" |
| ] |
| }, |
| "joint_pose_cmd.astribot_gripper_left": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_pose_cmd.astribot_gripper_left_0" |
| ] |
| }, |
| "joint_pose_cmd.astribot_arm_right": { |
| "dtype": "float64", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "joint_pose_cmd.astribot_arm_right_0", |
| "joint_pose_cmd.astribot_arm_right_1", |
| "joint_pose_cmd.astribot_arm_right_2", |
| "joint_pose_cmd.astribot_arm_right_3", |
| "joint_pose_cmd.astribot_arm_right_4", |
| "joint_pose_cmd.astribot_arm_right_5", |
| "joint_pose_cmd.astribot_arm_right_6" |
| ] |
| }, |
| "joint_pose_cmd.astribot_gripper_right": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "joint_pose_cmd.astribot_gripper_right_0" |
| ] |
| }, |
| "joint_pose_cmd.astribot_head": { |
| "dtype": "float64", |
| "shape": [ |
| 2 |
| ], |
| "names": [ |
| "joint_pose_cmd.astribot_head_0", |
| "joint_pose_cmd.astribot_head_1" |
| ] |
| }, |
| "cartesian_so3_dict.cartesian_pose_command": { |
| "dtype": "float64", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "cartesian_so3_dict.cartesian_pose_command_0", |
| "cartesian_so3_dict.cartesian_pose_command_1", |
| "cartesian_so3_dict.cartesian_pose_command_2", |
| "cartesian_so3_dict.cartesian_pose_command_3", |
| "cartesian_so3_dict.cartesian_pose_command_4", |
| "cartesian_so3_dict.cartesian_pose_command_5", |
| "cartesian_so3_dict.cartesian_pose_command_6", |
| "cartesian_so3_dict.cartesian_pose_command_7", |
| "cartesian_so3_dict.cartesian_pose_command_8", |
| "cartesian_so3_dict.cartesian_pose_command_9", |
| "cartesian_so3_dict.cartesian_pose_command_10", |
| "cartesian_so3_dict.cartesian_pose_command_11", |
| "cartesian_so3_dict.cartesian_pose_command_12", |
| "cartesian_so3_dict.cartesian_pose_command_13", |
| "cartesian_so3_dict.cartesian_pose_command_14", |
| "cartesian_so3_dict.cartesian_pose_command_15", |
| "cartesian_so3_dict.cartesian_pose_command_16", |
| "cartesian_so3_dict.cartesian_pose_command_17", |
| "cartesian_so3_dict.cartesian_pose_command_18", |
| "cartesian_so3_dict.cartesian_pose_command_19", |
| "cartesian_so3_dict.cartesian_pose_command_20", |
| "cartesian_so3_dict.cartesian_pose_command_21", |
| "cartesian_so3_dict.cartesian_pose_command_22", |
| "cartesian_so3_dict.cartesian_pose_command_23", |
| "cartesian_so3_dict.cartesian_pose_command_24", |
| "cartesian_so3_dict.cartesian_pose_command_25", |
| "cartesian_so3_dict.cartesian_pose_command_26", |
| "cartesian_so3_dict.cartesian_pose_command_27", |
| "cartesian_so3_dict.cartesian_pose_command_28", |
| "cartesian_so3_dict.cartesian_pose_command_29", |
| "cartesian_so3_dict.cartesian_pose_command_30" |
| ] |
| }, |
| "cartesian_so3_dict.cartesian_pose_state": { |
| "dtype": "float64", |
| "shape": [ |
| 31 |
| ], |
| "names": [ |
| "cartesian_so3_dict.cartesian_pose_state_0", |
| "cartesian_so3_dict.cartesian_pose_state_1", |
| "cartesian_so3_dict.cartesian_pose_state_2", |
| "cartesian_so3_dict.cartesian_pose_state_3", |
| "cartesian_so3_dict.cartesian_pose_state_4", |
| "cartesian_so3_dict.cartesian_pose_state_5", |
| "cartesian_so3_dict.cartesian_pose_state_6", |
| "cartesian_so3_dict.cartesian_pose_state_7", |
| "cartesian_so3_dict.cartesian_pose_state_8", |
| "cartesian_so3_dict.cartesian_pose_state_9", |
| "cartesian_so3_dict.cartesian_pose_state_10", |
| "cartesian_so3_dict.cartesian_pose_state_11", |
| "cartesian_so3_dict.cartesian_pose_state_12", |
| "cartesian_so3_dict.cartesian_pose_state_13", |
| "cartesian_so3_dict.cartesian_pose_state_14", |
| "cartesian_so3_dict.cartesian_pose_state_15", |
| "cartesian_so3_dict.cartesian_pose_state_16", |
| "cartesian_so3_dict.cartesian_pose_state_17", |
| "cartesian_so3_dict.cartesian_pose_state_18", |
| "cartesian_so3_dict.cartesian_pose_state_19", |
| "cartesian_so3_dict.cartesian_pose_state_20", |
| "cartesian_so3_dict.cartesian_pose_state_21", |
| "cartesian_so3_dict.cartesian_pose_state_22", |
| "cartesian_so3_dict.cartesian_pose_state_23", |
| "cartesian_so3_dict.cartesian_pose_state_24", |
| "cartesian_so3_dict.cartesian_pose_state_25", |
| "cartesian_so3_dict.cartesian_pose_state_26", |
| "cartesian_so3_dict.cartesian_pose_state_27", |
| "cartesian_so3_dict.cartesian_pose_state_28", |
| "cartesian_so3_dict.cartesian_pose_state_29", |
| "cartesian_so3_dict.cartesian_pose_state_30" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
