| license: cc-by-4.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - tactile | |
| - franka | |
| - gelsight | |
| - open-x-tactile | |
| - ftp1 | |
| # vistadata | |
| Unimanual VistaData for [Open-X-Tactile](https://open-x-tactile.github.io/). | |
| 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 | |
| ```text | |
| vistadata/ | |
| erasing.zarr.zip | |
| pencil_insertion.zarr.zip | |
| usb_insertion.zarr.zip | |
| ``` | |
| Unzip a task archive to get the original `*.zarr` directory. | |
| ## Quick start | |
| ```bash | |
| 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` | |