--- pretty_name: IDEAL-FT language: - en tags: - robotics - force-torque - zarr --- # IDEAL-FT: four Franka teleoperation tasks A local, schema-compatible OXT-layout export of 125 curated successful demonstrations. It preserves the recorded robot and FT conventions; canonical wrist/TCP geometry and post-installation camera calibration have not been verified. This is not a claim of canonical training readiness or final OXT acceptance. Public distribution prepared for `Alan0928/IDEAL-FT`. The original local packaging records are preserved as provenance. No dataset license, institution, contact, or repository URL has been inferred. Format references: [Open-X-Tactile](https://open-x-tactile.github.io) and the [pinned FTP-1 official data format](https://github.com/michaelyuancb/ftp1-policy/blob/89fa681d6c014cce28300946b7526db808e0b1c1/data_processing/README.md). Submission guidance: `OXT-QC/OXT-Contribution/OXT数据提交指南.pdf` and `OXT-QC/OXT-Contribution/OXT数据提交注意事项.docx` in the local OXT-QC checkout (`cadbf5e7d1cfcec861a6d58779fc6d6e057f3126`). These references do not imply formal acceptance. ## Download and extract The standard Zarr data is distributed in four ZIP archives under `archives/`. The duplicate expanded `zarr/` tree is omitted from the repository because its many small files exceed convenient Hub layout limits. Every current Zarr file is preserved inside those ZIPs. All 500 original H5/SVO files, conversion tools, metadata, quality reports and previews are also included. After downloading this repository into `IDEAL-FT/`, run from that directory: ```bash sha256sum -c SHA256SUMS mkdir -p IDEAL-FT for archive in archives/*/*.zarr.zip; do unzip -n "$archive" -d IDEAL-FT done ``` The `IDEAL-FT/` directory is the dataset domain containing the four task Zarr stores. Use that domain directory for the OXT metadata checker and FTP-1 loader. The reading example below uses the extracted `IDEAL-FT/` domain. Each ZIP contains a single `.zarr/` directory, with identical bytes to the locally validated store. Allow approximately 27 GB of additional disk space for the extracted Zarr data. `publication/source_package_README.md` and `publication/source_package_SHA256SUMS` preserve the original local README and complete-package checksums. The source package's `upload_performed=false` and local filesystem paths describe its pre-publication provenance, not the current availability of the repository. Publication changes only this README and the distribution checksum manifest; numerical data, images and raw files are unchanged. `upload_manifest.json` describes this distribution and its source package. ## Contents and counts | Task | Episodes | Original controls | Standard rows | Full-rate FT samples | |---|---:|---:|---:|---:| | wipe board | 38 | 14979 | 14941 | 105295 | | push button | 27 | 4844 | 4817 | 34078 | | insert pen | 30 | 11845 | 11815 | 81843 | | hang tape | 30 | 10652 | 10622 | 74458 | | **Total** | **125** | **42320** | **42195** | **295674** | `insert pen` is the user's confirmed name for the original `insert` demonstrations. The prior user-excluded hang-tape episode at 2026-10-16 20:10:14 is not included; the replacement at 21:19:44 is included. Original task labels and selection evidence remain in `metadata/selected_sources_audit.json`. - `zarr/.zarr/`: Zarr format 2, `data/*` arrays and `meta/episode_ends`. - `native///`: complete original trajectory H5, full-rate FT H5, and original stereo SVO files. - `metadata/episodes/`: source attributes, exact camera alignment, decoder calibration, and field mapping. - `metadata/array_schema.json`: final task-wide array shapes, dtypes, chunks, compression, and field descriptions; `metadata/field_mapping.json` is explicitly a first-episode example. - `qc/`: local numeric/preservation checks, OXT metadata prechecks, and any VLM dry-run artifacts. - `qc/previews/`, `examples/`, and `metadata/preview_metadata.json`, when present: small human-viewing previews, separate from the original standard arrays; display resampling is documented in preview metadata. - `tools/` and `requirements_oxt_export.txt`: exact export, mapping, decoding, validation and packaging code plus offline regression tests. - `checksums/native_sha256.json`: all native file hashes verified against the export manifest. - `SHA256SUMS`: the uploaded distribution files, excluding this checksum file itself. - `archives/checksums.txt`: SHA256 for each task archive. - `archives//.zarr.zip`: ZIP_STORED/ZIP64 archives of the already-compressed Zarr files; member sizes and CRC verified. Native files are not duplicated in ZIP archives. Extract each task ZIP into a directory to obtain `.zarr/`; its contents match the corresponding `zarr/` store. ## Array and timing conventions `right_arm_joints` contains seven measured joint angles in radians. `right_wrist_pose` is omitted because the recorded native EEF/flange frame (local FR3 configuration: `panda_link8`) has no verified transform to the FTP-1 gripper convention (relative to the wrist camera: z forward, x down, y left). The original state remains in `native__observation__robot_state__cartesian_position` as xyz metres and Euler xyz radians, and in native H5. `right_hand_joints` is normalized gripper opening, computed as `1 - native closure`: 0=closed and 1=open, with gripper-distance index 28. It is dimensionless, not a physical width in metres. Native gripper observations and action fields retain their original closure convention. String arrays use explicit fixed-width Unicode with no variable-length UTF-8 filter in Zarr v2 storage. The exporter requests an empty filter list; the included `fix_oxt_zarr_unicode.py` repairs completed stores made with the older implicit filter behavior. Numeric and image arrays are not changed by that repair. Reader compatibility verification is separate from physical calibration. True recorded commands are separate: `action_joint_position`, `action_eef_pose`, `action_eef_pose_with_ft_offset`, and `command_dispatched`. The EEF command is the requested target before IK, not FK of commanded joints and not an action inferred from a future observed state. Original action velocity fields are normalized per-step commands, not SI velocities. All 103 original row datasets are also retained under `native__` names with `/` replaced by `__`. The additional +63 mm pose fields shift the original EEF point along its local +Z with unchanged orientation. This is an installation length increment, not a complete TCP definition, sensor transform, or verified OXT canonical wrist transform. `timestamps` is seconds since the original episode's first host control step; `timestamp_unix_ns` preserves exact host Unix nanoseconds. `source_control_row` maps each standard row back into the full original trajectory. Camera alignment requires SDK IMAGE nanoseconds floored to milliseconds to equal each recorded H5 camera timestamp in both cameras. Only the intersection is retained; no nearest-time guess, repeated final frame or fabricated observation is used. All original control rows remain in native H5, including those omitted from standard arrays. FT snapshots use the original latest persisted sample before robot observation; their indices and host receive/snapshot times are retained. Full FT streams remain in each `ft_sensor.h5`. Robot-server seconds/nanoseconds are also preserved, but its clock was about 59.4–62.3 seconds behind the collection host and no offset correction is applied. Local FT/control comparisons use the common host monotonic clock; hardware synchronization is not claimed. There are 3509 original rows with `command_dispatched=false`; those rows store hypothetical hold commands. Selected rows retain this flag. A true flag records dispatch, not confirmed asynchronous robot acceptance. The independent validator counted **3418** such rows in the standard arrays. ## Force/torque and images The sensor is SRI M3813A1 with M8228S1 interface. `ft_wrench` and `supplementary_tactile` contain `[Fx,Fy,Fz,Mx,My,Mz]` in the native sensor frame. N/Nm units are assumed from the device's stored calibration. The standard tactile four-piece set `right_tactile_*_wrist_torque` contains only `[Mx,My,Mz]`, shape `(T,1,3)`, area 15, sensor `SRIM3813A1`, type `state`. `supplementary_tactile_note.json` describes the full six-axis mapping. No software bias subtraction, gravity compensation, or sensor-to-TCP/base transform is applied. Sensor mounting axes/origin, mass/COM and full transforms were not supplied. The device's calibration matrix and query responses remain in native metadata. Acquisition used host AT+GOD polling, approximately 70–99 Hz across these episodes; the device's reported internal 1000 Hz setting is not the saved receive rate. Packet-counter discontinuities are diagnostics, not a count of lost internal samples. `camera_main_rgb` (external 36087771) and `right_wrist_camera_rgb` (16478870) are 640×360 RGB uint8, decoded using SDK LEFT rectified view. PNG staging and Blosc Zstd storage preserve the decoded, resized pixels losslessly; resizing itself is not reversible. Original full-resolution stereo recordings remain in SVO. Output intrinsics come from the decoder SDK calibration at the output resolution. Original H5 intrinsics and historical hand-eye/external extrinsics are preserved separately. The two active cameras' recorded calibrations date to December 2025; validity after FT installation is unconfirmed, and +63 mm was not silently applied to them. ## Validation status Independent preservation/numeric validation passed: `qc/independent_validation.json`. Scope: all chunks read. | OXT metadata task | Episodes | Rows | Hard errors | Warnings | |---|---:|---:|---:|---:| | hang_tape | 30 | 10622 | 0 | 0 | | insert_pen | 30 | 11815 | 0 | 0 | | push_button | 27 | 4817 | 0 | 0 | | wipe_board | 38 | 14941 | 0 | 0 | Metadata checks establish layout consistency, not physical calibration or final OXT acceptance. The dataset-level compact metadata report still has `overall_status=warning`: it requests confirmation of the inferred sensor category and completion of human-authored publication/contact/reference fields. Those prompts are separate from the four passing task-level data checks above. VLM artifacts are local dry-run/montage evidence only; this package does not claim a VLM pass or a completed external model review. - `qc/vlm_dry_run/vlm_review.json`: dry-run marker present. No 4D visual review was run by this packaging workflow. Integrity checks cover stored bytes, not calibration accuracy. ## Read one episode and its full-rate FT stream ```python from pathlib import Path import h5py import zarr root = Path('.') task = zarr.open_group(str(root / 'IDEAL-FT/wipe_board.zarr'), mode='r') data, meta = task['data'], task['meta'] end = int(meta['episode_ends'][0]) # first episode spans [0, end) joints = data['right_arm_joints'][:end] commands = data['action_joint_position'][:end] rgb = data['right_wrist_camera_rgb'][0] relative_native = str(meta['source_episode_paths'][0]) with h5py.File(root / relative_native / 'ft_sensor.h5', 'r') as ft: all_wrench = ft['samples/wrench'][:] # all high-rate samples, (F, 6) receive_ns = ft['samples/receive_monotonic_ns'][:] indices = data['native__observation__ft_sensor__sample_index'][:end] recorded_snapshots = all_wrench[indices] ``` Install the pinned direct dependencies with `python -m pip install -r requirements_oxt_export.txt`. Reading Zarr/H5 requires no live hardware or ZED SDK. Re-decoding original SVO files requires a compatible ZED SDK/pyzed environment; SDK versions are recorded per episode. Generating example MP4 previews also requires a system `ffmpeg` executable with the `libx264` encoder on PATH; it is not installed by the Python requirements. Running the official OXT prechecks requires a separate OXT-QC checkout at the repository and commit recorded in `metadata/format_reference.json`. Verify all delivered files from the package directory with `sha256sum -c SHA256SUMS`. Re-run offline mapping/decoder regressions with `python -m unittest discover -s tools -p 'test_*.py'`. The Unicode compatibility repair includes its own synthetic tests: `python tools/fix_oxt_zarr_unicode.py --self-test --zarr2-python /path/to/zarr2/python`. Use a separate Zarr 2 reader environment for that cross-version check; the ordinary export/packaging environment's pinned Zarr version is listed in requirements.