---
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.