---
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`