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Datasets:
gdiazsrl
/
three_blocks_stack_ft

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
LeRobot
moonbot
teleoperation
block-stacking
DOI:
Libraries:
Datasets
lerobot
License:
Dataset card Data Studio Files
xet
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+ }
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+ },
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+ "total_episodes": 296,
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+ "total_frames": 519684,
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+ "total_tasks": 9,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 200,
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "robot_type": "moonbot_teleop",
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+ "splits": {
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+ }
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+ }
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+ # moonbot_teleop: differential-drive base.
2
+ # See stone.yaml for the annotated tour of the contract format.
3
+
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+ robot_type: moonbot_teleop
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+ robot_interface: ros2
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+ fps: 30
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+
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+ observations:
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+ observation.images.front:
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+ channel: {topic: /body/camera/color/image_raw,
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+ type: sensor_msgs/msg/Image,
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+ qos: {reliability: best_effort, history: keep_last, depth: 10}}
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+ align: {strategy: hold, timeline: header}
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+ apply: [resize: [480, 640]]
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+
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+ observation.images.eef:
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+ channel: {topic: /eef/camera/color/image_raw,
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+ type: sensor_msgs/msg/Image,
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+ qos: {reliability: best_effort, history: keep_last, depth: 10}}
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+ align: {strategy: hold, timeline: header}
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+ apply: [resize: [480, 640]]
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+
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+ observation.images.right:
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+ channel: {topic: /right/camera/color/image_raw,
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+ type: sensor_msgs/msg/Image,
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+ qos: {reliability: best_effort, history: keep_last, depth: 10}}
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+ align: {strategy: hold, timeline: header}
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+ apply: [resize: [480, 640]]
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+
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+ # Concatenated from wheels + imu + odom (16 dims total), in order.
31
+ observation.state:
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+ - channel: {topic: /leg302/joint_read,
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+ type: sensor_msgs/msg/JointState,
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+ qos: {reliability: best_effort, history: keep_last, depth: 50}}
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+ align: {strategy: hold, timeline: header}
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+ select: [position.leg302_joint1, position.leg302_joint2, position.leg302_joint3, position.leg302_joint4, position.leg302_joint5, position.leg302_joint6, position.leg302_joint7, position.leg302_grip2]
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+ - channel: {topic: /leg302/tip_pos,
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+ type: geometry_msgs/msg/Transform,
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+ decoder: "rosetta.examples.moonbot_codecs:decode_transform",
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+ qos: {reliability: best_effort, history: keep_last, depth: 50}}
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+ align: {strategy: hold, timeline: receive}
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+ select: [translation.x, translation.y, translation.z, rotation.x, rotation.y, rotation.z, rotation.w]
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+ - channel: {topic: /F_ee,
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+ type: geometry_msgs/msg/WrenchStamped,
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+ decoder: "rosetta.examples.moonbot_codecs:decode_wrench_stamped",
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+ qos: {reliability: best_effort, history: keep_last, depth: 50}}
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+ align: {strategy: hold, timeline: header}
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+ select: [wrench.force.x, wrench.force.y, wrench.force.z, wrench.torque.x, wrench.torque.y, wrench.torque.z]
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+
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+ actions:
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+ action:
52
+ channel: {topic: /leg302/joint_set_teleop, type: sensor_msgs/msg/JointState,
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+ qos: {reliability: reliable, history: keep_last, depth: 10},
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+ safety: hold}
55
+ align: {strategy: hold, timeline: header}
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+ select: [position.leg302_joint1, position.leg302_joint2, position.leg302_joint3, position.leg302_joint4, position.leg302_joint5, position.leg302_joint6, position.leg302_joint7, position.leg302_grip2]
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+
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