Hugging Face's logo

Datasets:
qianpusun
/
pi0_test_data

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
qianpusun commited on
Commit
ec24886
·
verified ·
1 Parent(s): ced70c5

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +1239 -0
README.md ADDED
@@ -0,0 +1,1239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v2.0",
28
+ "robot_type": "S1-stationary",
29
+ "total_episodes": 99,
30
+ "total_frames": 30166,
31
+ "total_tasks": 1,
32
+ "total_videos": 396,
33
+ "total_chunks": 1,
34
+ "chunks_size": 1000,
35
+ "fps": 30,
36
+ "splits": {
37
+ "train": "0:99"
38
+ },
39
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
40
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
41
+ "features": {
42
+ "command_poses_dict.astribot_arm_left": {
43
+ "dtype": "float64",
44
+ "shape": [
45
+ 7
46
+ ],
47
+ "names": [
48
+ "astribot_arm_left_0",
49
+ "astribot_arm_left_1",
50
+ "astribot_arm_left_2",
51
+ "astribot_arm_left_3",
52
+ "astribot_arm_left_4",
53
+ "astribot_arm_left_5",
54
+ "astribot_arm_left_6"
55
+ ]
56
+ },
57
+ "command_poses_dict.astribot_arm_right": {
58
+ "dtype": "float64",
59
+ "shape": [
60
+ 7
61
+ ],
62
+ "names": [
63
+ "astribot_arm_right_0",
64
+ "astribot_arm_right_1",
65
+ "astribot_arm_right_2",
66
+ "astribot_arm_right_3",
67
+ "astribot_arm_right_4",
68
+ "astribot_arm_right_5",
69
+ "astribot_arm_right_6"
70
+ ]
71
+ },
72
+ "command_poses_dict.astribot_chassis": {
73
+ "dtype": "float64",
74
+ "shape": [
75
+ 7
76
+ ],
77
+ "names": [
78
+ "astribot_chassis_0",
79
+ "astribot_chassis_1",
80
+ "astribot_chassis_2",
81
+ "astribot_chassis_3",
82
+ "astribot_chassis_4",
83
+ "astribot_chassis_5",
84
+ "astribot_chassis_6"
85
+ ]
86
+ },
87
+ "command_poses_dict.astribot_gripper_left": {
88
+ "dtype": "float64",
89
+ "shape": [
90
+ 1
91
+ ],
92
+ "names": [
93
+ "astribot_gripper_left_0"
94
+ ]
95
+ },
96
+ "command_poses_dict.astribot_gripper_right": {
97
+ "dtype": "float64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": [
102
+ "astribot_gripper_right_0"
103
+ ]
104
+ },
105
+ "command_poses_dict.astribot_head": {
106
+ "dtype": "float64",
107
+ "shape": [
108
+ 7
109
+ ],
110
+ "names": [
111
+ "astribot_head_0",
112
+ "astribot_head_1",
113
+ "astribot_head_2",
114
+ "astribot_head_3",
115
+ "astribot_head_4",
116
+ "astribot_head_5",
117
+ "astribot_head_6"
118
+ ]
119
+ },
120
+ "command_poses_dict.astribot_torso": {
121
+ "dtype": "float64",
122
+ "shape": [
123
+ 7
124
+ ],
125
+ "names": [
126
+ "astribot_torso_0",
127
+ "astribot_torso_1",
128
+ "astribot_torso_2",
129
+ "astribot_torso_3",
130
+ "astribot_torso_4",
131
+ "astribot_torso_5",
132
+ "astribot_torso_6"
133
+ ]
134
+ },
135
+ "command_poses_dict.command": {
136
+ "dtype": "float64",
137
+ "shape": [
138
+ 35
139
+ ],
140
+ "names": [
141
+ "command_0",
142
+ "command_1",
143
+ "command_2",
144
+ "command_3",
145
+ "command_4",
146
+ "command_5",
147
+ "command_6",
148
+ "command_7",
149
+ "command_8",
150
+ "command_9",
151
+ "command_10",
152
+ "command_11",
153
+ "command_12",
154
+ "command_13",
155
+ "command_14",
156
+ "command_15",
157
+ "command_16",
158
+ "command_17",
159
+ "command_18",
160
+ "command_19",
161
+ "command_20",
162
+ "command_21",
163
+ "command_22",
164
+ "command_23",
165
+ "command_24",
166
+ "command_25",
167
+ "command_26",
168
+ "command_27",
169
+ "command_28",
170
+ "command_29",
171
+ "command_30",
172
+ "command_31",
173
+ "command_32",
174
+ "command_33",
175
+ "command_34"
176
+ ]
177
+ },
178
+ "command_poses_dict.merge_pose": {
179
+ "dtype": "float64",
180
+ "shape": [
181
+ 37
182
+ ],
183
+ "names": [
184
+ "merge_pose_0",
185
+ "merge_pose_1",
186
+ "merge_pose_2",
187
+ "merge_pose_3",
188
+ "merge_pose_4",
189
+ "merge_pose_5",
190
+ "merge_pose_6",
191
+ "merge_pose_7",
192
+ "merge_pose_8",
193
+ "merge_pose_9",
194
+ "merge_pose_10",
195
+ "merge_pose_11",
196
+ "merge_pose_12",
197
+ "merge_pose_13",
198
+ "merge_pose_14",
199
+ "merge_pose_15",
200
+ "merge_pose_16",
201
+ "merge_pose_17",
202
+ "merge_pose_18",
203
+ "merge_pose_19",
204
+ "merge_pose_20",
205
+ "merge_pose_21",
206
+ "merge_pose_22",
207
+ "merge_pose_23",
208
+ "merge_pose_24",
209
+ "merge_pose_25",
210
+ "merge_pose_26",
211
+ "merge_pose_27",
212
+ "merge_pose_28",
213
+ "merge_pose_29",
214
+ "merge_pose_30",
215
+ "merge_pose_31",
216
+ "merge_pose_32",
217
+ "merge_pose_33",
218
+ "merge_pose_34",
219
+ "merge_pose_35",
220
+ "merge_pose_36"
221
+ ]
222
+ },
223
+ "images_dict.head.rgb": {
224
+ "dtype": "video",
225
+ "shape": [
226
+ 3,
227
+ 720,
228
+ 1280
229
+ ],
230
+ "names": [
231
+ "channel",
232
+ "height",
233
+ "width"
234
+ ],
235
+ "info": {
236
+ "video.fps": 30.0,
237
+ "video.height": 720,
238
+ "video.width": 1280,
239
+ "video.channels": 3,
240
+ "video.codec": "h264",
241
+ "video.pix_fmt": "yuv420p",
242
+ "video.is_depth_map": false,
243
+ "has_audio": false
244
+ }
245
+ },
246
+ "images_dict.left.rgb": {
247
+ "dtype": "video",
248
+ "shape": [
249
+ 3,
250
+ 360,
251
+ 640
252
+ ],
253
+ "names": [
254
+ "channel",
255
+ "height",
256
+ "width"
257
+ ],
258
+ "info": {
259
+ "video.fps": 30.0,
260
+ "video.height": 360,
261
+ "video.width": 640,
262
+ "video.channels": 3,
263
+ "video.codec": "h264",
264
+ "video.pix_fmt": "yuv420p",
265
+ "video.is_depth_map": false,
266
+ "has_audio": false
267
+ }
268
+ },
269
+ "images_dict.right.rgb": {
270
+ "dtype": "video",
271
+ "shape": [
272
+ 3,
273
+ 360,
274
+ 640
275
+ ],
276
+ "names": [
277
+ "channel",
278
+ "height",
279
+ "width"
280
+ ],
281
+ "info": {
282
+ "video.fps": 30.0,
283
+ "video.height": 360,
284
+ "video.width": 640,
285
+ "video.channels": 3,
286
+ "video.codec": "h264",
287
+ "video.pix_fmt": "yuv420p",
288
+ "video.is_depth_map": false,
289
+ "has_audio": false
290
+ }
291
+ },
292
+ "images_dict.torso.rgb": {
293
+ "dtype": "video",
294
+ "shape": [
295
+ 3,
296
+ 720,
297
+ 1280
298
+ ],
299
+ "names": [
300
+ "channel",
301
+ "height",
302
+ "width"
303
+ ],
304
+ "info": {
305
+ "video.fps": 30.0,
306
+ "video.height": 720,
307
+ "video.width": 1280,
308
+ "video.channels": 3,
309
+ "video.codec": "h264",
310
+ "video.pix_fmt": "yuv420p",
311
+ "video.is_depth_map": false,
312
+ "has_audio": false
313
+ }
314
+ },
315
+ "joints_dict.joints_position_command": {
316
+ "dtype": "float64",
317
+ "shape": [
318
+ 25
319
+ ],
320
+ "names": [
321
+ "joints_position_command_0",
322
+ "joints_position_command_1",
323
+ "joints_position_command_2",
324
+ "joints_position_command_3",
325
+ "joints_position_command_4",
326
+ "joints_position_command_5",
327
+ "joints_position_command_6",
328
+ "joints_position_command_7",
329
+ "joints_position_command_8",
330
+ "joints_position_command_9",
331
+ "joints_position_command_10",
332
+ "joints_position_command_11",
333
+ "joints_position_command_12",
334
+ "joints_position_command_13",
335
+ "joints_position_command_14",
336
+ "joints_position_command_15",
337
+ "joints_position_command_16",
338
+ "joints_position_command_17",
339
+ "joints_position_command_18",
340
+ "joints_position_command_19",
341
+ "joints_position_command_20",
342
+ "joints_position_command_21",
343
+ "joints_position_command_22",
344
+ "joints_position_command_23",
345
+ "joints_position_command_24"
346
+ ]
347
+ },
348
+ "joints_dict.joints_position_state": {
349
+ "dtype": "float64",
350
+ "shape": [
351
+ 25
352
+ ],
353
+ "names": [
354
+ "joints_position_state_0",
355
+ "joints_position_state_1",
356
+ "joints_position_state_2",
357
+ "joints_position_state_3",
358
+ "joints_position_state_4",
359
+ "joints_position_state_5",
360
+ "joints_position_state_6",
361
+ "joints_position_state_7",
362
+ "joints_position_state_8",
363
+ "joints_position_state_9",
364
+ "joints_position_state_10",
365
+ "joints_position_state_11",
366
+ "joints_position_state_12",
367
+ "joints_position_state_13",
368
+ "joints_position_state_14",
369
+ "joints_position_state_15",
370
+ "joints_position_state_16",
371
+ "joints_position_state_17",
372
+ "joints_position_state_18",
373
+ "joints_position_state_19",
374
+ "joints_position_state_20",
375
+ "joints_position_state_21",
376
+ "joints_position_state_22",
377
+ "joints_position_state_23",
378
+ "joints_position_state_24"
379
+ ]
380
+ },
381
+ "joints_dict.joints_velocity_state": {
382
+ "dtype": "float64",
383
+ "shape": [
384
+ 25
385
+ ],
386
+ "names": [
387
+ "joints_velocity_state_0",
388
+ "joints_velocity_state_1",
389
+ "joints_velocity_state_2",
390
+ "joints_velocity_state_3",
391
+ "joints_velocity_state_4",
392
+ "joints_velocity_state_5",
393
+ "joints_velocity_state_6",
394
+ "joints_velocity_state_7",
395
+ "joints_velocity_state_8",
396
+ "joints_velocity_state_9",
397
+ "joints_velocity_state_10",
398
+ "joints_velocity_state_11",
399
+ "joints_velocity_state_12",
400
+ "joints_velocity_state_13",
401
+ "joints_velocity_state_14",
402
+ "joints_velocity_state_15",
403
+ "joints_velocity_state_16",
404
+ "joints_velocity_state_17",
405
+ "joints_velocity_state_18",
406
+ "joints_velocity_state_19",
407
+ "joints_velocity_state_20",
408
+ "joints_velocity_state_21",
409
+ "joints_velocity_state_22",
410
+ "joints_velocity_state_23",
411
+ "joints_velocity_state_24"
412
+ ]
413
+ },
414
+ "poses_dict.astribot_arm_left": {
415
+ "dtype": "float64",
416
+ "shape": [
417
+ 7
418
+ ],
419
+ "names": [
420
+ "astribot_arm_left_0",
421
+ "astribot_arm_left_1",
422
+ "astribot_arm_left_2",
423
+ "astribot_arm_left_3",
424
+ "astribot_arm_left_4",
425
+ "astribot_arm_left_5",
426
+ "astribot_arm_left_6"
427
+ ]
428
+ },
429
+ "poses_dict.astribot_arm_right": {
430
+ "dtype": "float64",
431
+ "shape": [
432
+ 7
433
+ ],
434
+ "names": [
435
+ "astribot_arm_right_0",
436
+ "astribot_arm_right_1",
437
+ "astribot_arm_right_2",
438
+ "astribot_arm_right_3",
439
+ "astribot_arm_right_4",
440
+ "astribot_arm_right_5",
441
+ "astribot_arm_right_6"
442
+ ]
443
+ },
444
+ "poses_dict.astribot_chassis": {
445
+ "dtype": "float64",
446
+ "shape": [
447
+ 7
448
+ ],
449
+ "names": [
450
+ "astribot_chassis_0",
451
+ "astribot_chassis_1",
452
+ "astribot_chassis_2",
453
+ "astribot_chassis_3",
454
+ "astribot_chassis_4",
455
+ "astribot_chassis_5",
456
+ "astribot_chassis_6"
457
+ ]
458
+ },
459
+ "poses_dict.astribot_gripper_left": {
460
+ "dtype": "float64",
461
+ "shape": [
462
+ 1
463
+ ],
464
+ "names": [
465
+ "astribot_gripper_left_0"
466
+ ]
467
+ },
468
+ "poses_dict.astribot_gripper_right": {
469
+ "dtype": "float64",
470
+ "shape": [
471
+ 1
472
+ ],
473
+ "names": [
474
+ "astribot_gripper_right_0"
475
+ ]
476
+ },
477
+ "poses_dict.astribot_head": {
478
+ "dtype": "float64",
479
+ "shape": [
480
+ 7
481
+ ],
482
+ "names": [
483
+ "astribot_head_0",
484
+ "astribot_head_1",
485
+ "astribot_head_2",
486
+ "astribot_head_3",
487
+ "astribot_head_4",
488
+ "astribot_head_5",
489
+ "astribot_head_6"
490
+ ]
491
+ },
492
+ "poses_dict.astribot_torso": {
493
+ "dtype": "float64",
494
+ "shape": [
495
+ 7
496
+ ],
497
+ "names": [
498
+ "astribot_torso_0",
499
+ "astribot_torso_1",
500
+ "astribot_torso_2",
501
+ "astribot_torso_3",
502
+ "astribot_torso_4",
503
+ "astribot_torso_5",
504
+ "astribot_torso_6"
505
+ ]
506
+ },
507
+ "poses_dict.merge_pose": {
508
+ "dtype": "float64",
509
+ "shape": [
510
+ 37
511
+ ],
512
+ "names": [
513
+ "merge_pose_0",
514
+ "merge_pose_1",
515
+ "merge_pose_2",
516
+ "merge_pose_3",
517
+ "merge_pose_4",
518
+ "merge_pose_5",
519
+ "merge_pose_6",
520
+ "merge_pose_7",
521
+ "merge_pose_8",
522
+ "merge_pose_9",
523
+ "merge_pose_10",
524
+ "merge_pose_11",
525
+ "merge_pose_12",
526
+ "merge_pose_13",
527
+ "merge_pose_14",
528
+ "merge_pose_15",
529
+ "merge_pose_16",
530
+ "merge_pose_17",
531
+ "merge_pose_18",
532
+ "merge_pose_19",
533
+ "merge_pose_20",
534
+ "merge_pose_21",
535
+ "merge_pose_22",
536
+ "merge_pose_23",
537
+ "merge_pose_24",
538
+ "merge_pose_25",
539
+ "merge_pose_26",
540
+ "merge_pose_27",
541
+ "merge_pose_28",
542
+ "merge_pose_29",
543
+ "merge_pose_30",
544
+ "merge_pose_31",
545
+ "merge_pose_32",
546
+ "merge_pose_33",
547
+ "merge_pose_34",
548
+ "merge_pose_35",
549
+ "merge_pose_36"
550
+ ]
551
+ },
552
+ "xyz_quat_state.astribot_chassis": {
553
+ "dtype": "float64",
554
+ "shape": [
555
+ 7
556
+ ],
557
+ "names": [
558
+ "x",
559
+ "y",
560
+ "z",
561
+ "quat_x",
562
+ "quat_y",
563
+ "quat_z",
564
+ "quat_w"
565
+ ]
566
+ },
567
+ "xyz_quat_state.astribot_torso": {
568
+ "dtype": "float64",
569
+ "shape": [
570
+ 7
571
+ ],
572
+ "names": [
573
+ "x",
574
+ "y",
575
+ "z",
576
+ "quat_x",
577
+ "quat_y",
578
+ "quat_z",
579
+ "quat_w"
580
+ ]
581
+ },
582
+ "xyz_quat_state.astribot_arm_left": {
583
+ "dtype": "float64",
584
+ "shape": [
585
+ 7
586
+ ],
587
+ "names": [
588
+ "x",
589
+ "y",
590
+ "z",
591
+ "quat_x",
592
+ "quat_y",
593
+ "quat_z",
594
+ "quat_w"
595
+ ]
596
+ },
597
+ "xyz_quat_state.astribot_arm_right": {
598
+ "dtype": "float64",
599
+ "shape": [
600
+ 7
601
+ ],
602
+ "names": [
603
+ "x",
604
+ "y",
605
+ "z",
606
+ "quat_x",
607
+ "quat_y",
608
+ "quat_z",
609
+ "quat_w"
610
+ ]
611
+ },
612
+ "xyz_quat_state.astribot_head": {
613
+ "dtype": "float64",
614
+ "shape": [
615
+ 7
616
+ ],
617
+ "names": [
618
+ "x",
619
+ "y",
620
+ "z",
621
+ "quat_x",
622
+ "quat_y",
623
+ "quat_z",
624
+ "quat_w"
625
+ ]
626
+ },
627
+ "xyz_quat_cmd.astribot_chassis": {
628
+ "dtype": "float64",
629
+ "shape": [
630
+ 7
631
+ ],
632
+ "names": [
633
+ "x",
634
+ "y",
635
+ "z",
636
+ "quat_x",
637
+ "quat_y",
638
+ "quat_z",
639
+ "quat_w"
640
+ ]
641
+ },
642
+ "xyz_quat_cmd.astribot_torso": {
643
+ "dtype": "float64",
644
+ "shape": [
645
+ 7
646
+ ],
647
+ "names": [
648
+ "x",
649
+ "y",
650
+ "z",
651
+ "quat_x",
652
+ "quat_y",
653
+ "quat_z",
654
+ "quat_w"
655
+ ]
656
+ },
657
+ "xyz_quat_cmd.astribot_arm_left": {
658
+ "dtype": "float64",
659
+ "shape": [
660
+ 7
661
+ ],
662
+ "names": [
663
+ "x",
664
+ "y",
665
+ "z",
666
+ "quat_x",
667
+ "quat_y",
668
+ "quat_z",
669
+ "quat_w"
670
+ ]
671
+ },
672
+ "xyz_quat_cmd.astribot_arm_right": {
673
+ "dtype": "float64",
674
+ "shape": [
675
+ 7
676
+ ],
677
+ "names": [
678
+ "x",
679
+ "y",
680
+ "z",
681
+ "quat_x",
682
+ "quat_y",
683
+ "quat_z",
684
+ "quat_w"
685
+ ]
686
+ },
687
+ "xyz_quat_cmd.astribot_head": {
688
+ "dtype": "float64",
689
+ "shape": [
690
+ 7
691
+ ],
692
+ "names": [
693
+ "x",
694
+ "y",
695
+ "z",
696
+ "quat_x",
697
+ "quat_y",
698
+ "quat_z",
699
+ "quat_w"
700
+ ]
701
+ },
702
+ "xyz_so3_state.astribot_chassis": {
703
+ "dtype": "float64",
704
+ "shape": [
705
+ 9
706
+ ],
707
+ "names": [
708
+ "x",
709
+ "y",
710
+ "z",
711
+ "so3_0",
712
+ "so3_1",
713
+ "so3_2",
714
+ "so3_3",
715
+ "so3_4",
716
+ "so3_5"
717
+ ]
718
+ },
719
+ "xyz_so3_state.astribot_torso": {
720
+ "dtype": "float64",
721
+ "shape": [
722
+ 9
723
+ ],
724
+ "names": [
725
+ "x",
726
+ "y",
727
+ "z",
728
+ "so3_0",
729
+ "so3_1",
730
+ "so3_2",
731
+ "so3_3",
732
+ "so3_4",
733
+ "so3_5"
734
+ ]
735
+ },
736
+ "xyz_so3_state.astribot_arm_left": {
737
+ "dtype": "float64",
738
+ "shape": [
739
+ 9
740
+ ],
741
+ "names": [
742
+ "x",
743
+ "y",
744
+ "z",
745
+ "so3_0",
746
+ "so3_1",
747
+ "so3_2",
748
+ "so3_3",
749
+ "so3_4",
750
+ "so3_5"
751
+ ]
752
+ },
753
+ "xyz_so3_state.astribot_arm_right": {
754
+ "dtype": "float64",
755
+ "shape": [
756
+ 9
757
+ ],
758
+ "names": [
759
+ "x",
760
+ "y",
761
+ "z",
762
+ "so3_0",
763
+ "so3_1",
764
+ "so3_2",
765
+ "so3_3",
766
+ "so3_4",
767
+ "so3_5"
768
+ ]
769
+ },
770
+ "xyz_so3_state.astribot_head": {
771
+ "dtype": "float64",
772
+ "shape": [
773
+ 9
774
+ ],
775
+ "names": [
776
+ "x",
777
+ "y",
778
+ "z",
779
+ "so3_0",
780
+ "so3_1",
781
+ "so3_2",
782
+ "so3_3",
783
+ "so3_4",
784
+ "so3_5"
785
+ ]
786
+ },
787
+ "xyz_so3_cmd.astribot_chassis": {
788
+ "dtype": "float64",
789
+ "shape": [
790
+ 9
791
+ ],
792
+ "names": [
793
+ "x",
794
+ "y",
795
+ "z",
796
+ "so3_0",
797
+ "so3_1",
798
+ "so3_2",
799
+ "so3_3",
800
+ "so3_4",
801
+ "so3_5"
802
+ ]
803
+ },
804
+ "xyz_so3_cmd.astribot_torso": {
805
+ "dtype": "float64",
806
+ "shape": [
807
+ 9
808
+ ],
809
+ "names": [
810
+ "x",
811
+ "y",
812
+ "z",
813
+ "so3_0",
814
+ "so3_1",
815
+ "so3_2",
816
+ "so3_3",
817
+ "so3_4",
818
+ "so3_5"
819
+ ]
820
+ },
821
+ "xyz_so3_cmd.astribot_arm_left": {
822
+ "dtype": "float64",
823
+ "shape": [
824
+ 9
825
+ ],
826
+ "names": [
827
+ "x",
828
+ "y",
829
+ "z",
830
+ "so3_0",
831
+ "so3_1",
832
+ "so3_2",
833
+ "so3_3",
834
+ "so3_4",
835
+ "so3_5"
836
+ ]
837
+ },
838
+ "xyz_so3_cmd.astribot_arm_right": {
839
+ "dtype": "float64",
840
+ "shape": [
841
+ 9
842
+ ],
843
+ "names": [
844
+ "x",
845
+ "y",
846
+ "z",
847
+ "so3_0",
848
+ "so3_1",
849
+ "so3_2",
850
+ "so3_3",
851
+ "so3_4",
852
+ "so3_5"
853
+ ]
854
+ },
855
+ "xyz_so3_cmd.astribot_head": {
856
+ "dtype": "float64",
857
+ "shape": [
858
+ 9
859
+ ],
860
+ "names": [
861
+ "x",
862
+ "y",
863
+ "z",
864
+ "so3_0",
865
+ "so3_1",
866
+ "so3_2",
867
+ "so3_3",
868
+ "so3_4",
869
+ "so3_5"
870
+ ]
871
+ },
872
+ "joint_pose_state.astribot_chassis": {
873
+ "dtype": "float64",
874
+ "shape": [
875
+ 3
876
+ ],
877
+ "names": [
878
+ "joint_pose_state.astribot_chassis_0",
879
+ "joint_pose_state.astribot_chassis_1",
880
+ "joint_pose_state.astribot_chassis_2"
881
+ ]
882
+ },
883
+ "joint_pose_state.astribot_torso": {
884
+ "dtype": "float64",
885
+ "shape": [
886
+ 4
887
+ ],
888
+ "names": [
889
+ "joint_pose_state.astribot_torso_0",
890
+ "joint_pose_state.astribot_torso_1",
891
+ "joint_pose_state.astribot_torso_2",
892
+ "joint_pose_state.astribot_torso_3"
893
+ ]
894
+ },
895
+ "joint_pose_state.astribot_arm_left": {
896
+ "dtype": "float64",
897
+ "shape": [
898
+ 7
899
+ ],
900
+ "names": [
901
+ "joint_pose_state.astribot_arm_left_0",
902
+ "joint_pose_state.astribot_arm_left_1",
903
+ "joint_pose_state.astribot_arm_left_2",
904
+ "joint_pose_state.astribot_arm_left_3",
905
+ "joint_pose_state.astribot_arm_left_4",
906
+ "joint_pose_state.astribot_arm_left_5",
907
+ "joint_pose_state.astribot_arm_left_6"
908
+ ]
909
+ },
910
+ "joint_pose_state.astribot_gripper_left": {
911
+ "dtype": "float64",
912
+ "shape": [
913
+ 1
914
+ ],
915
+ "names": [
916
+ "joint_pose_state.astribot_gripper_left_0"
917
+ ]
918
+ },
919
+ "joint_pose_state.astribot_arm_right": {
920
+ "dtype": "float64",
921
+ "shape": [
922
+ 7
923
+ ],
924
+ "names": [
925
+ "joint_pose_state.astribot_arm_right_0",
926
+ "joint_pose_state.astribot_arm_right_1",
927
+ "joint_pose_state.astribot_arm_right_2",
928
+ "joint_pose_state.astribot_arm_right_3",
929
+ "joint_pose_state.astribot_arm_right_4",
930
+ "joint_pose_state.astribot_arm_right_5",
931
+ "joint_pose_state.astribot_arm_right_6"
932
+ ]
933
+ },
934
+ "joint_pose_state.astribot_gripper_right": {
935
+ "dtype": "float64",
936
+ "shape": [
937
+ 1
938
+ ],
939
+ "names": [
940
+ "joint_pose_state.astribot_gripper_right_0"
941
+ ]
942
+ },
943
+ "joint_pose_state.astribot_head": {
944
+ "dtype": "float64",
945
+ "shape": [
946
+ 2
947
+ ],
948
+ "names": [
949
+ "joint_pose_state.astribot_head_0",
950
+ "joint_pose_state.astribot_head_1"
951
+ ]
952
+ },
953
+ "joint_vel_state.astribot_chassis": {
954
+ "dtype": "float64",
955
+ "shape": [
956
+ 3
957
+ ],
958
+ "names": [
959
+ "joint_vel_state.astribot_chassis_0",
960
+ "joint_vel_state.astribot_chassis_1",
961
+ "joint_vel_state.astribot_chassis_2"
962
+ ]
963
+ },
964
+ "joint_vel_state.astribot_torso": {
965
+ "dtype": "float64",
966
+ "shape": [
967
+ 4
968
+ ],
969
+ "names": [
970
+ "joint_vel_state.astribot_torso_0",
971
+ "joint_vel_state.astribot_torso_1",
972
+ "joint_vel_state.astribot_torso_2",
973
+ "joint_vel_state.astribot_torso_3"
974
+ ]
975
+ },
976
+ "joint_vel_state.astribot_arm_left": {
977
+ "dtype": "float64",
978
+ "shape": [
979
+ 7
980
+ ],
981
+ "names": [
982
+ "joint_vel_state.astribot_arm_left_0",
983
+ "joint_vel_state.astribot_arm_left_1",
984
+ "joint_vel_state.astribot_arm_left_2",
985
+ "joint_vel_state.astribot_arm_left_3",
986
+ "joint_vel_state.astribot_arm_left_4",
987
+ "joint_vel_state.astribot_arm_left_5",
988
+ "joint_vel_state.astribot_arm_left_6"
989
+ ]
990
+ },
991
+ "joint_vel_state.astribot_gripper_left": {
992
+ "dtype": "float64",
993
+ "shape": [
994
+ 1
995
+ ],
996
+ "names": [
997
+ "joint_vel_state.astribot_gripper_left_0"
998
+ ]
999
+ },
1000
+ "joint_vel_state.astribot_arm_right": {
1001
+ "dtype": "float64",
1002
+ "shape": [
1003
+ 7
1004
+ ],
1005
+ "names": [
1006
+ "joint_vel_state.astribot_arm_right_0",
1007
+ "joint_vel_state.astribot_arm_right_1",
1008
+ "joint_vel_state.astribot_arm_right_2",
1009
+ "joint_vel_state.astribot_arm_right_3",
1010
+ "joint_vel_state.astribot_arm_right_4",
1011
+ "joint_vel_state.astribot_arm_right_5",
1012
+ "joint_vel_state.astribot_arm_right_6"
1013
+ ]
1014
+ },
1015
+ "joint_vel_state.astribot_gripper_right": {
1016
+ "dtype": "float64",
1017
+ "shape": [
1018
+ 1
1019
+ ],
1020
+ "names": [
1021
+ "joint_vel_state.astribot_gripper_right_0"
1022
+ ]
1023
+ },
1024
+ "joint_vel_state.astribot_head": {
1025
+ "dtype": "float64",
1026
+ "shape": [
1027
+ 2
1028
+ ],
1029
+ "names": [
1030
+ "joint_vel_state.astribot_head_0",
1031
+ "joint_vel_state.astribot_head_1"
1032
+ ]
1033
+ },
1034
+ "joint_pose_cmd.astribot_chassis": {
1035
+ "dtype": "float64",
1036
+ "shape": [
1037
+ 3
1038
+ ],
1039
+ "names": [
1040
+ "joint_pose_cmd.astribot_chassis_0",
1041
+ "joint_pose_cmd.astribot_chassis_1",
1042
+ "joint_pose_cmd.astribot_chassis_2"
1043
+ ]
1044
+ },
1045
+ "joint_pose_cmd.astribot_torso": {
1046
+ "dtype": "float64",
1047
+ "shape": [
1048
+ 4
1049
+ ],
1050
+ "names": [
1051
+ "joint_pose_cmd.astribot_torso_0",
1052
+ "joint_pose_cmd.astribot_torso_1",
1053
+ "joint_pose_cmd.astribot_torso_2",
1054
+ "joint_pose_cmd.astribot_torso_3"
1055
+ ]
1056
+ },
1057
+ "joint_pose_cmd.astribot_arm_left": {
1058
+ "dtype": "float64",
1059
+ "shape": [
1060
+ 7
1061
+ ],
1062
+ "names": [
1063
+ "joint_pose_cmd.astribot_arm_left_0",
1064
+ "joint_pose_cmd.astribot_arm_left_1",
1065
+ "joint_pose_cmd.astribot_arm_left_2",
1066
+ "joint_pose_cmd.astribot_arm_left_3",
1067
+ "joint_pose_cmd.astribot_arm_left_4",
1068
+ "joint_pose_cmd.astribot_arm_left_5",
1069
+ "joint_pose_cmd.astribot_arm_left_6"
1070
+ ]
1071
+ },
1072
+ "joint_pose_cmd.astribot_gripper_left": {
1073
+ "dtype": "float64",
1074
+ "shape": [
1075
+ 1
1076
+ ],
1077
+ "names": [
1078
+ "joint_pose_cmd.astribot_gripper_left_0"
1079
+ ]
1080
+ },
1081
+ "joint_pose_cmd.astribot_arm_right": {
1082
+ "dtype": "float64",
1083
+ "shape": [
1084
+ 7
1085
+ ],
1086
+ "names": [
1087
+ "joint_pose_cmd.astribot_arm_right_0",
1088
+ "joint_pose_cmd.astribot_arm_right_1",
1089
+ "joint_pose_cmd.astribot_arm_right_2",
1090
+ "joint_pose_cmd.astribot_arm_right_3",
1091
+ "joint_pose_cmd.astribot_arm_right_4",
1092
+ "joint_pose_cmd.astribot_arm_right_5",
1093
+ "joint_pose_cmd.astribot_arm_right_6"
1094
+ ]
1095
+ },
1096
+ "joint_pose_cmd.astribot_gripper_right": {
1097
+ "dtype": "float64",
1098
+ "shape": [
1099
+ 1
1100
+ ],
1101
+ "names": [
1102
+ "joint_pose_cmd.astribot_gripper_right_0"
1103
+ ]
1104
+ },
1105
+ "joint_pose_cmd.astribot_head": {
1106
+ "dtype": "float64",
1107
+ "shape": [
1108
+ 2
1109
+ ],
1110
+ "names": [
1111
+ "joint_pose_cmd.astribot_head_0",
1112
+ "joint_pose_cmd.astribot_head_1"
1113
+ ]
1114
+ },
1115
+ "cartesian_so3_dict.cartesian_pose_command": {
1116
+ "dtype": "float64",
1117
+ "shape": [
1118
+ 31
1119
+ ],
1120
+ "names": [
1121
+ "cartesian_so3_dict.cartesian_pose_command_0",
1122
+ "cartesian_so3_dict.cartesian_pose_command_1",
1123
+ "cartesian_so3_dict.cartesian_pose_command_2",
1124
+ "cartesian_so3_dict.cartesian_pose_command_3",
1125
+ "cartesian_so3_dict.cartesian_pose_command_4",
1126
+ "cartesian_so3_dict.cartesian_pose_command_5",
1127
+ "cartesian_so3_dict.cartesian_pose_command_6",
1128
+ "cartesian_so3_dict.cartesian_pose_command_7",
1129
+ "cartesian_so3_dict.cartesian_pose_command_8",
1130
+ "cartesian_so3_dict.cartesian_pose_command_9",
1131
+ "cartesian_so3_dict.cartesian_pose_command_10",
1132
+ "cartesian_so3_dict.cartesian_pose_command_11",
1133
+ "cartesian_so3_dict.cartesian_pose_command_12",
1134
+ "cartesian_so3_dict.cartesian_pose_command_13",
1135
+ "cartesian_so3_dict.cartesian_pose_command_14",
1136
+ "cartesian_so3_dict.cartesian_pose_command_15",
1137
+ "cartesian_so3_dict.cartesian_pose_command_16",
1138
+ "cartesian_so3_dict.cartesian_pose_command_17",
1139
+ "cartesian_so3_dict.cartesian_pose_command_18",
1140
+ "cartesian_so3_dict.cartesian_pose_command_19",
1141
+ "cartesian_so3_dict.cartesian_pose_command_20",
1142
+ "cartesian_so3_dict.cartesian_pose_command_21",
1143
+ "cartesian_so3_dict.cartesian_pose_command_22",
1144
+ "cartesian_so3_dict.cartesian_pose_command_23",
1145
+ "cartesian_so3_dict.cartesian_pose_command_24",
1146
+ "cartesian_so3_dict.cartesian_pose_command_25",
1147
+ "cartesian_so3_dict.cartesian_pose_command_26",
1148
+ "cartesian_so3_dict.cartesian_pose_command_27",
1149
+ "cartesian_so3_dict.cartesian_pose_command_28",
1150
+ "cartesian_so3_dict.cartesian_pose_command_29",
1151
+ "cartesian_so3_dict.cartesian_pose_command_30"
1152
+ ]
1153
+ },
1154
+ "cartesian_so3_dict.cartesian_pose_state": {
1155
+ "dtype": "float64",
1156
+ "shape": [
1157
+ 31
1158
+ ],
1159
+ "names": [
1160
+ "cartesian_so3_dict.cartesian_pose_state_0",
1161
+ "cartesian_so3_dict.cartesian_pose_state_1",
1162
+ "cartesian_so3_dict.cartesian_pose_state_2",
1163
+ "cartesian_so3_dict.cartesian_pose_state_3",
1164
+ "cartesian_so3_dict.cartesian_pose_state_4",
1165
+ "cartesian_so3_dict.cartesian_pose_state_5",
1166
+ "cartesian_so3_dict.cartesian_pose_state_6",
1167
+ "cartesian_so3_dict.cartesian_pose_state_7",
1168
+ "cartesian_so3_dict.cartesian_pose_state_8",
1169
+ "cartesian_so3_dict.cartesian_pose_state_9",
1170
+ "cartesian_so3_dict.cartesian_pose_state_10",
1171
+ "cartesian_so3_dict.cartesian_pose_state_11",
1172
+ "cartesian_so3_dict.cartesian_pose_state_12",
1173
+ "cartesian_so3_dict.cartesian_pose_state_13",
1174
+ "cartesian_so3_dict.cartesian_pose_state_14",
1175
+ "cartesian_so3_dict.cartesian_pose_state_15",
1176
+ "cartesian_so3_dict.cartesian_pose_state_16",
1177
+ "cartesian_so3_dict.cartesian_pose_state_17",
1178
+ "cartesian_so3_dict.cartesian_pose_state_18",
1179
+ "cartesian_so3_dict.cartesian_pose_state_19",
1180
+ "cartesian_so3_dict.cartesian_pose_state_20",
1181
+ "cartesian_so3_dict.cartesian_pose_state_21",
1182
+ "cartesian_so3_dict.cartesian_pose_state_22",
1183
+ "cartesian_so3_dict.cartesian_pose_state_23",
1184
+ "cartesian_so3_dict.cartesian_pose_state_24",
1185
+ "cartesian_so3_dict.cartesian_pose_state_25",
1186
+ "cartesian_so3_dict.cartesian_pose_state_26",
1187
+ "cartesian_so3_dict.cartesian_pose_state_27",
1188
+ "cartesian_so3_dict.cartesian_pose_state_28",
1189
+ "cartesian_so3_dict.cartesian_pose_state_29",
1190
+ "cartesian_so3_dict.cartesian_pose_state_30"
1191
+ ]
1192
+ },
1193
+ "timestamp": {
1194
+ "dtype": "float32",
1195
+ "shape": [
1196
+ 1
1197
+ ],
1198
+ "names": null
1199
+ },
1200
+ "frame_index": {
1201
+ "dtype": "int64",
1202
+ "shape": [
1203
+ 1
1204
+ ],
1205
+ "names": null
1206
+ },
1207
+ "episode_index": {
1208
+ "dtype": "int64",
1209
+ "shape": [
1210
+ 1
1211
+ ],
1212
+ "names": null
1213
+ },
1214
+ "index": {
1215
+ "dtype": "int64",
1216
+ "shape": [
1217
+ 1
1218
+ ],
1219
+ "names": null
1220
+ },
1221
+ "task_index": {
1222
+ "dtype": "int64",
1223
+ "shape": [
1224
+ 1
1225
+ ],
1226
+ "names": null
1227
+ }
1228
+ }
1229
+ }
1230
+ ```
1231
+
1232
+
1233
+ ## Citation
1234
+
1235
+ **BibTeX:**
1236
+
1237
+ ```bibtex
1238
+ [More Information Needed]
1239
+ ```