Hugging Face's logo

Datasets:
yg19930918
/
InsertTac-uSkin

Dataset card Files
xet
 Community
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/folder_based_builder/folder_based_builder.py", line 134, in _split_generators
                  analyze(archives, downloaded_dirs, split_name)
                  ~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/folder_based_builder/folder_based_builder.py", line 88, in analyze
                  if os.path.isfile(downloaded_files_or_dirs[0]):
                     ~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/streaming.py", line 73, in wrapper
                  return function(*args, download_config=download_config, **kwargs)
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 745, in xisfile
                  fs, *_ = url_to_fs(path, **storage_options)
                           ~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/fsspec/core.py", line 408, in url_to_fs
                  fs = filesystem(protocol, **inkwargs)
                File "/usr/local/lib/python3.14/site-packages/fsspec/registry.py", line 303, in filesystem
                  return cls(**storage_options)
                File "/usr/local/lib/python3.14/site-packages/fsspec/spec.py", line 81, in __call__
                  obj = super().__call__(*args, **kwargs)
                File "/usr/local/lib/python3.14/site-packages/fsspec/implementations/zip.py", line 62, in __init__
                  self.zip = zipfile.ZipFile(
                             ~~~~~~~~~~~~~~~^
                      self.fo,
                      ^^^^^^^^
                  ...<3 lines>...
                      compresslevel=compresslevel,
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 1472, in __init__
                  self._RealGetContents()
                  ~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 1535, in _RealGetContents
                  endrec = _EndRecData(fp)
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 375, in _EndRecData
                  return _EndRecData64(fpin, filesize - sizeEndCentDir, endrec)
                File "/usr/local/lib/python3.14/zipfile/__init__.py", line 303, in _EndRecData64
                  raise BadZipFile("zipfiles that span multiple disks are not supported")
              zipfile.BadZipFile: zipfiles that span multiple disks are not supported
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ~~~~~~~~~~~~~~~~~~~~~~~^
                      path=dataset,
                      ^^^^^^^^^^^^^
                      config_name=config,
                      ^^^^^^^^^^^^^^^^^^^
                      token=hf_token,
                      ^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                      path,
                  ...<6 lines>...
                      **config_kwargs,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

InsertTac-uSkin

FR3 single-left-arm teleoperation dataset with dual uSkin tactile sensors. Task: pick up a test tube and insert it into a test tube rack.

  • 200 trajectories, 112,854 frames total.
  • Two RGB cameras (external + left wrist), 480x640.
  • Dual XELA uSkin uSPa46 3-axis tactile sensors (left & right gripper fingers), 24 taxels x 3 axes each.
  • Stored in the FTP-1 / Open-X-Tactile ReplayBuffer zarr format.

Format

Follows the Open-X-Tactile (OXT) specification. For the full data format, key definitions, and coordinate conventions, see https://open-x-tactile.github.io/ . See supplementary_tactile_note.json for the meaning of each tactile dimension.

Data processing (please read)

  • Timestamps are synthesized. RGB (dual 480x640 @30Hz) and uSkin (CAN bus) have different native rates. timestamps = arange(T)/30, per episode from 0, constant 1/30 step — a resampled/aligned 30Hz axis, not recorded source times.
  • Tactile is per-episode baseline-subtracted. uSkin raw values have a large per-taxel DC offset (~37000). The released left_tactile_data_uskin1/2 is minus the mean of each episode's first ~5 (no-contact) frames -> signed integers, not raw. Add back the per-episode baseline to recover raw values.
  • Tactile functional area. Each 4x6 uSkin pad is one MTTS functional area: left_tactile_area_uskin1 = 0 (left fingertip), ..._uskin2 = 1 (right fingertip). The per-taxel 4x6 layout is given by the channel order and the supplementary note, not by the area field. Hand joint index: gripper 1-DoF -> hand_joints_idx = 28.

Contents

The .zarr dataset is under InsertTac-uSkin/ as a single zip split into 4 volumes (~40 GB each):

InsertTac-uSkin/InsertTac-uSkin.z01 / .z02 / .z03 / .zip   (.zip = last/main volume)

All four parts are required to extract.

Download and extract 

zip -s 0 InsertTac-uSkin.zip --out combined.zip   # merge split volumes
unzip combined.zip                                 # -> InsertTac-uSkin.zarr/

import zarr
root = zarr.open_group("InsertTac-uSkin.zarr", mode="r")
print(root["meta"]["episode_ends"][:])          # 200 episode boundaries
print(sorted(root["data"].array_keys()))

Visualizations (viz/)

viz/episode_<i>.mp4 (200 videos): external + left-wrist RGB on top; the two uSkin pads as bubble plots (radius = normal z, displacement = shear x/y), baseline- subtracted per episode. For quick visual QC of each trajectory.

Quality-check outputs (oxt_check_output/)

OXT-QC toolkit outputs on THIS released data (QC object == release object): metadata.json, dict.json, precheck_report*.json (PASS, 0 error/0 warning), vlm_review*.json (VLM semantic review; scores ~0.70-0.75, 0 fail; initial screening, human-verified — see the submission note), and the montage PNGs.
Downloads last month
76
Total file size:
170 GB