---
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.