Astribot · Robot platform

S1

Check scenarios & tasksBack to robots
49related scenarios
168related tasks
194krecords
2.7khours

Capacity: 2,156-5,670h/mo

Robot parameters

S15 parameters
Total
23 DOF
Dual Arm DOF
7 DOF * 2
Torso DOF
4 DOF * 1
Head DOF
2 DOF
Chassis DOF
3 DOF (Vx Vy Yaw)
Robot Performance Parameters6 parameters
Arm End-effector Rated Load (Horizontal, Continuous)
5 Kg
Joint Max Velocity
500 °/s (Shoulder), 800 °/s (Elbow), 1200 °/s (Wrist)
Joint Max Torque
200 Nm (Shoulder), 66 Nm (Elbow), 18 Nm (Wrist)
Arm End-effector Maximum Velocity
>10 m/s
Arm End-effector Maximum Acceleration
>100 m/s²
Arm End-effector Repeatability
±0.1 mm
Sensor System4 parameters
Head camera
RGB-D camera * 1; Stereo vision camera * 1 1280×720, 30 FPS, FOV: 80°×51°
Gripper camera
RGB-D camera * 2 640×480, 30 FPS, FOV: 78°×63°
Chest camera
RGB-D camera * 1 1280×720, 30 FPS, FOV: 86°×55°
Chassis LiDAR
LiDAR * 2
Others4 parameters
Battery
1000 Wh
Chassis Velocity
1.67 m/s (Unlockable to higher velocity)
Driving method
Cable-driven & Motor-driven
Data collection method
VR whole body collection

End effectors

Dex hands or grippers configured for collection with this robot model.

Gripper0 parameters

Gripper configuration listed for Astribot S1.

No parameters listed.

Recorded topics & schemas

Topics this robot can record. Expand any topic to inspect the corresponding schema.

/astribot/pose_command_arrayCartesian pose command for five named robot chains.Command100 HzcdrView schema

astribot_msgs/msg/RobotCartesianStates

Command

Cartesian pose, twist, and wrench command/state entries for named robot chains.

headerstd_msgs/Header
Sample timestamp.
names[]string[]
Named Cartesian chains.
states[]RobotCartesianState[]
Pose, twist, and wrench values.
/astribot_arm_left/joint_space_commandLeft arm joint command.Command100 HzcdrView schema

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] command
/astribot_arm_right/joint_space_commandRight arm joint command.Command100 HzcdrView schema

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] command
/astribot_arm_left/joint_space_statesLeft arm measured joint state.Motion state250 HzcdrView schema

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_arm_right/joint_space_statesRight arm measured joint state.Motion state250 HzcdrView schema

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_chassis/joint_space_commandChassis Vx, Vy, and yaw command.Command95-100 HzcdrView schema

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] command
/astribot_chassis/joint_space_statesChassis measured state.Motion state250 HzcdrView schema

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_gripper_left/joint_space_commandLeft gripper command.End effector95-100 HzcdrView schema

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] command
/astribot_gripper_left/joint_space_statesLeft gripper measured state.End effector250 HzcdrView schema

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_gripper_right/joint_space_commandRight gripper command.End effector95-100 HzcdrView schema

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] command
/astribot_gripper_right/joint_space_statesRight gripper measured state.End effector250 HzcdrView schema

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_head/joint_space_commandHead joint command.Command95-100 HzcdrView schema

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] command
/astribot_head/joint_space_statesHead measured joint state.Motion state250 HzcdrView schema

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_torso/joint_space_commandTorso joint command.Command95-100 HzcdrView schema

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] command
/astribot_torso/joint_space_statesTorso measured joint state.Motion state250 HzcdrView schema

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
Raw ros2msg
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_camera/*/color_compress/compressedColor image stream across five camera groups.Camera30 HzcdrView schema

sensor_msgs/msg/CompressedImage

Camera

Compressed image envelope for JPEG color streams and sample raw mono16 depth payloads.

headerstd_msgs/Header
Camera frame timestamp.
formatstring
Image format descriptor.
datauint8[]
Encoded image payload.
Raw ros2msg
Header header
string format
uint8[] data
/astribot_camera/*/depth_compressDepth image stream across RGBD camera groups.Camera30 HzcdrView schema

sensor_msgs/msg/CompressedImage

Camera

Compressed image envelope for JPEG color streams and sample raw mono16 depth payloads.

headerstd_msgs/Header
Camera frame timestamp.
formatstring
Image format descriptor.
datauint8[]
Encoded image payload.
Raw ros2msg
Header header
string format
uint8[] data
/tfVR teleoperation input frames rooted at world_vr.Transforms209 HzcdrView schema

tf2_msgs/msg/TFMessage

Transforms

Transform array. In this sample it carries VR teleoperation frames.

transforms[]geometry_msgs/TransformStamped[]
Stamped frame transforms.
Raw ros2msg
geometry_msgs/TransformStamped[] transforms