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DexManiTac/README.md

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+---
+pretty_name: DexManiTac
+language:
+  - en
+tags:
+  - robotics
+  - tactile-sensing
+  - multimodal
+  - manipulation
+  - zarr
+size_categories:
+  - 10K<n<100K
+---
+
+# DexManiTac Dataset
+
+Open X-Tactile / FTP-1 compatible manipulation data collected with a Franka FR3,
+parallel gripper, Intel RealSense cameras, and one Xense vision-based tactile sensor.
+
+Hugging Face: <https://huggingface.co/datasets/xinpan/DexManiTac>
+
+## Summary
+
+- 5 tasks
+- 337 trajectories
+- 29,802 synchronized frames (approximately 49.7 minutes at 10 Hz)
+- Xense installed on the left gripper pad (`functional-area ID = 0`)
+- Contact: `mengxinpan2024@ia.ac.cn`
+
+| Task | Trajectories | Frames |
+| --- | ---: | ---: |
+| In-hand relocation | 124 | 12,268 |
+| Pull bottle | 60 | 4,010 |
+| Stamp | 65 | 6,418 |
+| Wipe board | 25 | 3,270 |
+| Wipe board with a pre-grasped tool | 63 | 3,836 |
+
+## Contents
+
+Each task is stored as a Zarr v2 directory with `data/` arrays and
+`meta/episode_ends`. The main fields are:
+
+- `camera_main_rgb`: D435 RGB, 224 x 224
+- `right_wrist_camera_rgb`: D405 RGB, 224 x 224
+- `right_arm_joints`: seven FR3 joint positions
+- `right_hand_joints`: parallel-gripper width, canonical index 28
+- `right_wrist_pose`: xyz in the FR3 base frame plus rotation vector
+- `right_tactile_data_xense_image`: Xense RGB tactile image
+- `right_tactile_data_xense_force_grid`: 35 x 20 x 3 dense force field
+- `right_tactile_data_xense_force_resultant`: six-dimensional force resultant
+- paired `right_tactile_area_*`, `right_tactile_sensor_*`, and
+  `right_tactile_type_*` metadata arrays
+- `sub_task_instruction` and `timestamps`
+
+All camera and tactile images are RGB. Modalities were nearest-neighbor aligned to
+the host timestamp using their recorded source timestamps, then cropped to common
+temporal support. Source HDF5 files were not modified.
+
+For ModelScope distribution, task stores are packaged under one dataset parent
+directory rather than exposed at the repository root:
+
+```text
+DexManiTac/
+|-- inhand_relocation.zarr.zip
+|-- pull_bottle.zarr.zip
+|-- stamp.zarr.zip
+|-- wipe_board.zarr.zip
+`-- wipe_board_simple_pregrasp.zarr.zip
+```
+
+## Quality control
+
+`validation_report.json` records the automated schema, episode-boundary, timing,
+shape, metadata, and full floating-point finite-value checks. `source_manifest.csv`
+provides per-episode provenance and synchronization statistics. The `qc/` directory
+contains visual montages, and `video.mp4` is a short multi-task preview.
+
+## Conventions
+
+The sensor identifier is `Xense`. Its functional area is confirmed as the left
+gripper pad / thumb side (`0`). `right_wrist_pose` preserves the FR3-base world
+frame and the collected end-effector local-axis convention; no additional fixed
+transform to another gripper convention has been applied.
+
+## License
+
+License to be confirmed before public release.

DexManiTac/inhand_relocation.zarr.zip

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DexManiTac/manifest.json

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+{
+  "dataset": "DexManiTac",
+  "layout": "DexManiTac/<task>.zarr.zip",
+  "compression": "ZIP_STORED",
+  "archives": [
+    {
+      "task": "inhand_relocation",
+      "archive": "inhand_relocation.zarr.zip",
+      "files": 6900,
+      "source_bytes": 3496444241,
+      "archive_bytes": 3497859925
+    },
+    {
+      "task": "pull_bottle",
+      "archive": "pull_bottle.zarr.zip",
+      "files": 2650,
+      "source_bytes": 1198355561,
+      "archive_bytes": 1198850521
+    },
+    {
+      "task": "stamp",
+      "archive": "stamp.zarr.zip",
+      "files": 3692,
+      "source_bytes": 1765625358,
+      "archive_bytes": 1766271918
+    },
+    {
+      "task": "wipe_board",
+      "archive": "wipe_board.zarr.zip",
+      "files": 1740,
+      "source_bytes": 964319110,
+      "archive_bytes": 964640762
+    },
+    {
+      "task": "wipe_board_simple_pregrasp",
+      "archive": "wipe_board_simple_pregrasp.zarr.zip",
+      "files": 2434,
+      "source_bytes": 1142926748,
+      "archive_bytes": 1143454402
+    }
+  ]
+}

DexManiTac/metadata.json

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+{
+  "name": "DexManiTac",
+  "url": [
+    "https://huggingface.co/datasets/xinpan/DexManiTac"
+  ],
+  "version": "1.0.0",
+  "description": "FR3 gripper manipulation trajectories with synchronized D435 main-view RGB, D405 wrist RGB, Xense vision-based tactile images, dense force fields, and force resultants.",
+  "type": "gripper",
+  "sensor_image": [
+    "Xense"
+  ],
+  "sensor_array": [
+    "Xense"
+  ],
+  "sensor_state": [
+    "Xense"
+  ],
+  "task": 5,
+  "trajectory": 337,
+  "frame": 29802,
+  "contact": [
+    "mengxinpan2024@ia.ac.cn"
+  ],
+  "reference": {
+    "paper": "",
+    "website": "",
+    "authors": ""
+  },
+  "code_trigger": "DexManiTac"
+}

DexManiTac/pull_bottle.zarr.zip

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+size 1198850521

DexManiTac/stamp.zarr.zip

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+oid sha256:501efd07f3219d193478bd13fa9d008a6957afb3ac1264f781455b8d6aab63c8
+size 1766271918

DexManiTac/wipe_board.zarr.zip

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+oid sha256:4c52138a5aefe0e8d98df2269505019da2bbef0219b2727770caf9aa832d1838
+size 964640762

DexManiTac/wipe_board_simple_pregrasp.zarr.zip

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