metadata
license: cc-by-4.0
task_categories:
- robotics
tags:
- tactile
- franka
- gelsight
- open-x-tactile
- ftp1
vistadata
Unimanual VistaData for Open-X-Tactile.
Contact-rich Franka parallel-gripper demonstrations with GelSight Mini tactile RGB.
Paper website: https://vista-paper.github.io/
Version 1.0.1 corrects wrist orientations to the FTP-1 gripper/UMI canonical
frame: in the wrist-camera view, x points down, y points left, and z
points forward.
Layout
vistadata/
erasing.zarr.zip
pencil_insertion.zarr.zip
usb_insertion.zarr.zip
Unzip a task archive to get the original *.zarr directory.
Quick start
pip install huggingface_hub zarr
python load_oxt_zarr.py --task usb_insertion
Embodiment
1× Franka + parallel gripper + left-finger GelSight Mini + wrist Orbbec Gemini 335.
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
- Bimanual unscrew task is a separate dataset:
vistadata-bimanual