| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - moonbot |
| - teleoperation |
| - block-stacking |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # moonbot_block_stack_sep22 |
| |
| LeRobot v3 dataset converted from ROS 2 (Jazzy) rosbag2/MCAP teleoperation |
| recordings of a Moonbot arm stacking coloured blocks. |
| |
| ## ⚠️ Differs from `gdiazsrl/three_blocks_stack_sep22` |
|
|
| This is an **independent conversion of the same source recordings**, produced |
| as a cross-check. It is **not** a drop-in replacement: |
|
|
| | | this dataset | `gdiazsrl/three_blocks_stack_sep22` | |
| |---|---|---| |
| | `observation.state` | **float32 [14]** | float32 [21] | |
| | state sources | `joint_read` (8) + `F_ee` (6) | `joint_read` (8) + **`tip_pos` (7)** + `F_ee` (6) | |
| | episodes | 293 | 296 | |
| | frames | 514,644 | 519,684 | |
| | `is_first`/`is_last`/`is_terminal` | absent | present | |
| |
| It was converted with the `moonbot1.yaml` contract from the `gdiazh/rosetta` |
| main branch, which **omits `/leg302/tip_pos`**. Gustavo's newer contract adds |
| it. **For training and deployment against the current contract, use his |
| dataset** — a policy trained on 14-dim state will not load against a 21-dim |
| contract. |
|
|
| ## Contents |
|
|
| - **293 episodes**, 514,644 frames, 9 tasks, 30 fps |
| - 3 RGB streams at 480x640: `observation.images.front` / `.eef` / `.right` |
| - `action`: float32 [8] — `/leg302/joint_set_teleop` |
|
|
| ## Excluded episodes (7 of 300) |
|
|
| Defective **in the source**, not lost in conversion: |
|
|
| | Episode | Defect | |
| |---|---| |
| | `1789028768_171476840` | empty directory (0 objects) | |
| | `1789027163_700200080` | `metadata.yaml` present, no `.mcap` | |
| | `1789028630_884682178` | `metadata.yaml` present, no `.mcap` | |
| | `1789097109_781118392` | 0-byte `metadata.yaml` | |
| | `1789108382_783132076` | 0-byte `metadata.yaml` | |
| | `1789372813_089231014` | 0-byte `metadata.yaml` | |
| | `1789438114_570389747` | 0-byte `metadata.yaml` | |
|
|
| The four 0-byte-metadata episodes hold **7.95 GiB of intact `.mcap` data** — |
| rosbag2 writes `metadata.yaml` on *stop*, so those recordings were interrupted. |
| They are recoverable by regenerating metadata, and likely account for most of |
| the 296 vs 293 gap. |
|
|
| ## Provenance |
|
|
| Source 1.283 TiB of MCAP -> 8.47 GiB (155x), converted with |
| [`gdiazh/rosetta`](https://github.com/gdiazh/rosetta) `bag_to_lerobot.py`. |
| Every episode was hash-verified against the source before the raw bag was deleted. |
| See `MANIFEST.txt` for checksums. |
|
|
