VTAM_xArm_GelSight

Real-world visuo-tactile manipulation data (xArm6 + xArm Gripper + GelSight Mini), contributed to Open-X-Tactile (OXT). The zarr format follows the FTP-1 data processing specification; see the OXT website for data format instructions.

Task	File	Trajectories	Frames	Instruction
chip	VTAM_xArm_GelSight/chip.zarr.zip	100	27359	pick up the chip and place it on the plate
peel	VTAM_xArm_GelSight/peel.zarr.zip	61	10952	peel the cucumber into strips
wipe	VTAM_xArm_GelSight/wipe.zarr.zip	106	27088	wipe the whiteboard with the eraser until clean

Each task is one <task>.zarr.zip: an uncompressed (stored) zip whose root is the zarr group itself (.zgroup, data/, meta/), i.e. the layout written by zarr.storage.ZipStore. Open it without extracting:

import zarr
store = zarr.storage.ZipStore("VTAM_xArm_GelSight/chip.zarr.zip", mode="r")
root = zarr.open_group(store=store, mode="r")
episode_ends = root["meta"]["episode_ends"][:]
tactile = root["data"]["right_tactile_data_gripper"]

or extract to a directory store with unzip chip.zarr.zip -d chip.zarr.

Keys (30 Hz, T = episode length): timestamps (s), camera_main_rgb (head, 240x320), right_wrist_camera_rgb (240x320), right_wrist_pose (TCP xyz in m + rotvec, robot base frame), right_arm_joints (6, rad), right_hand_joints (gripper opening, m), right_hand_joints_idx (28), right_tactile_data_gripper (T, 1, 240, 320, 3, GelSight Mini RGB), right_tactile_area_gripper (1), right_tactile_sensor_gripper (GelSightMini), right_tactile_type_gripper (image), sub_task_instruction.