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vistadata-bimanual
Bimanual VistaData for Open-X-Tactile.
Contact-rich dual-Franka unscrew-coffee-jar demonstrations with GelSight Mini tactile RGB.
Paper website: https://vista-paper.github.io/
Layout
vistadata-bimanual/
unscrew_coffee_jar.zarr.zip
Unzip the archive to get the original unscrew_coffee_jar.zarr directory.
Embodiment
2× Franka + dual parallel grippers + GelSight Mini on the right arm's left fingertip + left/right wrist Gemini 335 + third-person RealSense D435.
Format follows the FTP-1 / Open-X-Tactile zarr contract.
Notes
- Gripper
hand_joints_idx= 28 - Tactile MTTS functional area = 0 (
type=image,sensor=GelSightMini, shape(T, 1, H, W, 3)) - Contact: klhwong3@link.cuhk.edu.hk
- Unimanual tasks are a separate dataset:
vistadata
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