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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- grabette
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2Fwilllyb%2Fsnack_transfer%2Fepisode_0">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## Dataset Description
- **Task:** snack transfer
- **Robot:** Grabette, left hand
- **Episodes:** 10
- **Frames:** 7,324 at 50 FPS (146.48 seconds)
- **License:** apache-2.0
- **Source:** [original raw recordings](https://huggingface.co/datasets/willlyb/snack_transfer-raw)
This is a reconstructed dataset. Original recording durations are preserved with held images/poses across missing intervals. Wrist-camera timing is approximate in all episodes; 41.46 seconds have unsupported poses, marked by `is_lost`. It is not verified one-to-one synchronized training data. See [recovery details and masks](RECOVERY.md).
## Dataset Structure
Two video observations (`observation.images.left_cam0`, `observation.images.left_cam1`), eight `action` values (position, rotation vector, and two gripper angles), and `is_lost`, using the same feature schema as [ParallaxData/sliding_door_clean](https://huggingface.co/datasets/ParallaxData/sliding_door_clean).
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.left_cam0": {
"dtype": "video",
"shape": [
3,
720,
960
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 720,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_cam1": {
"dtype": "video",
"shape": [
3,
720,
960
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 720,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"left_x",
"left_y",
"left_z",
"left_ax",
"left_ay",
"left_az",
"left_proximal",
"left_distal"
]
},
"is_lost": {
"dtype": "float32",
"shape": [
1
],
"names": [
"left_is_lost"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 10,
"total_frames": 7324,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "grabette",
"splits": {
"train": "0:10"
}
}
```
## Recovery Metadata
Additional validity flags are stored separately in [meta/recovery_masks.parquet](meta/recovery_masks.parquet) so they do not add charts to the standard visualizer. Join them by `index` or by `episode_index` and `frame_index`; standard training code does not load them automatically. [Per-frame provenance](meta/reconstruction_provenance.parquet) and [validation results](meta/reconstruction_validation.json) are also retained.
## Citation
No associated paper.
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