#### NOTE
This is a **Hugging Face dataset**. For large datasets, ensure `huggingface_hub>=1.1.3` to avoid rate limits. Learn more in the Hugging Face integration docs.
# Dataset Card for Grabette Tactile Full Synced (48 episodes)
This is a [FiftyOne](https://github.com/voxel51/fiftyone) dataset with 48 samples. Each sample is one episode of the task “Pick up the white cube and put it in the correct cup”, recorded with robot type `grabette`.
## Installation
```bash
pip install -U fiftyone
```
## Usage
### Load from the Hub
```python
import fiftyone as fo
from fiftyone.utils.huggingface import load_from_hub
dataset = load_from_hub("Voxel51/grabette-tactile-full-synced-48ep")
session = fo.launch_app(dataset)
```
### Download a snapshot and load it locally
```python
import fiftyone as fo
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="Voxel51/grabette-tactile-full-synced-48ep",
repo_type="dataset",
local_dir="grabette-tactile-full-synced-48ep",
)
dataset = fo.Dataset.from_dir(
dataset_dir="grabette-tactile-full-synced-48ep",
dataset_type=fo.types.LeRobotDataset,
name="grabette_tactile_full_synced",
)
session = fo.launch_app(dataset)
```
## Dataset Details
### Dataset Description
48 episodes (19,353 frames) at 50 fps on robot type `grabette`, all with the task “Pick up the white cube and put it in the correct cup”. Each frame has two 960x720 H.264 camera streams, an 8-D action, an `is_lost` flag, and two int16 tactile taxel grids (6x6 and 4x8). The source is a LeRobot v3.0 repo.
- **Shared by:** `CarolinePascal` on Hugging Face
- **Language(s):** en
- **License:** apache-2.0
### Dataset Sources
- **Repository:** https://huggingface.co/datasets/CarolinePascal/grabette-tactile-full-synced
## Dataset Structure
**Topology.** `media_type: multimodal`, 48 samples, one per episode, 50 fps, 145-537 frames (2.9-10.7 s). Samples hold a `media_reference` to the per-frame parquet and 2 video streams.
| Field | FiftyOne type | Description |
|-----------------------------------------------------------------------|---------------------------|-------------------------------------------------------|
| `media_reference` | `LeRobotEpisodeReference` | Pointers into `data/` parquet and the 2 video streams |
| `episode_index` | `IntField` | Episode index (0-47) |
| `task` | `StringField` | The single task instruction |
| `tasks` | `ListField(StringField)` | All task strings of the episode |
| `length` | `IntField` | Frames in the episode |
| `duration` | `FloatField` | Episode duration in seconds |
| `robot_type` | `StringField` | `grabette` |
| `fps` | `FloatField` | 50 |
| **Data behind `media_reference`** (per-frame, from `meta/info.json`): | | |
| Feature | Shape | Description |
|-----------------------------------------------|--------------|-----------------------------------------------------------------------------------------|
| `observation.images.right_cam0`, `right_cam1` | 720x960x3 | h264 yuv420p video |
| `action` | (8,) | `right_x, right_y, right_z, right_ax, right_ay, right_az, right_proximal, right_distal` |
| `is_lost` | (1,) | `right_is_lost` flag |
| `observation.tactile.right_sensor_1` | (6, 6) int16 | Tactile taxel grid |
| `observation.tactile.right_sensor_2` | (4, 8) int16 | Tactile taxel grid |
**Label types and why.** The FiftyOne LeRobot importer only recognizes `video` and `image` features, so the int16 tactile grids are not imported as FiftyOne fields. Multimodal samples have no frame fields, so no tactile values become FiftyOne fields. The arrays stay unchanged in `data/chunk-000/file-000.parquet` and ship with the exported LeRobot repo.
**`dataset.info`.** `lerobot` entry with `format`, `format_major`, `episode_count`, `imported_episode_count`, `skipped_episodes` (empty).
**Parsing decisions.**
- All 48 episodes imported, from a single shard (240 MB). No source file was modified.
- Units, taxel layout, and physical meaning of the tactile values are not stated in the source card.
## Dataset Creation
### Source Data
#### Data Collection and Processing
The source card states only that it was created using LeRobot.
### Annotations
#### Annotation process
A single task string is stored in `meta/tasks.parquet`.