| --- |
| pretty_name: DeformableObjectsGrasping |
| --- |
| |
| # DeformableObjectsGrasping — OXT Conversion |
|
|
| This directory contains an Open-X-Tactile / FTP-1-style conversion of the |
| DeformableObjectsGrasping fruit interaction dataset. |
|
|
| For the Open-X-Tactile data format and project information, see |
| https://open-x-tactile.github.io/. |
|
|
| ## Hosted file layout |
|
|
| The repository stores the two Zarr datasets as archives under the required |
| inner dataset directory: |
|
|
| ```text |
| DeformableObjectsGrasping/ |
| ├── pinch.zarr.zip |
| └── slide.zarr.zip |
| ``` |
|
|
| Extract an archive before opening it with Zarr. Each archive contains one |
| top-level directory named `pinch.zarr` or `slide.zarr`. |
|
|
| ## Source paper |
|
|
| **Learning Generalizable Vision-Tactile Robotic Grasping Strategy for |
| Deformable Objects via Transformer** |
|
|
| - Paper: https://arxiv.org/abs/2112.06374 |
| - Authors: Yunhai Han*, Kelin Yu*, Rahul Batra, Nathan Boyd, Chaitanya Mehta, |
| Tuo Zhao, Yu She, Seth Hutchinson, Ye Zhao |
|
|
| This release corresponds to the exploratory-action formulation in Section |
| III-A and the fruit-grasping experiments in Section IV-B (Figs. 4–5) of the |
| source paper. It contains the locally available five-fruit subset described |
| below. |
|
|
| ## Contents |
|
|
| - `pinch.zarr`: 633 pinch episodes, 30 synchronized frames per episode. |
| - `slide.zarr`: 633 slide episodes, 30 synchronized frames per episode. |
| - Each frame contains a RealSense RGB image and one GelSight tactile image. |
| - The dataset covers apple, lemon, orange, plum, and tomato interactions. |
|
|
| ## Custom gripper and joint-state scope |
|
|
| The source platform uses a custom gripper. No synchronized gripper aperture, |
| joint-state, wrist-pose, or action trajectory is available for the exported |
| image frames. Therefore: |
|
|
| - no `*_hand_joints` field is exported; |
| - no `*_hand_joints_idx` field applies; |
| - FAAS gripper slot 28 is not assigned because there is no exported joint |
| channel; |
| - no missing gripper state or action is synthesized. |
|
|
| `hand_joints_idx.png` records this intentional N/A state for manual review. |
| The dataset should be treated as synchronized vision-tactile observation data, |
| not as a complete action-conditioned policy trajectory dataset. |
|
|
| ## Tactile topology |
|
|
| This OXT release exports one GelSight tactile stream from a sensor pad on one |
| gripper jaw. No second tactile channel is included. The sole exported channel |
| is represented as: |
|
|
| - `right_tactile_data_gripper`: `(T, 1, 150, 200, 3)`; |
| - `right_tactile_area_gripper`: `(T, 1)`, constant functional-area index `0`; |
| - `right_tactile_sensor_gripper`: constant value `GelSight`; |
| - `right_tactile_type_gripper`: constant value `image`. |
|
|
| The physical pad location and index are illustrated in |
| `tactile_func_area_idx.png`. |
|
|
| ## Intentionally omitted source fields |
|
|
| The source `Position.npy` and `Force.npy` streams are not aligned one-to-one |
| with the 30 synchronized RGB/GelSight frames and are not exported. The original |
| per-trial outcome labels and thresholds are also outside the current FTP-1 |
| observation schema and are not exported. These omissions are documented rather |
| than replaced with inferred values. |
|
|
| ## Quality-control artifacts |
|
|
| `oxt_check_output/` contains the metadata/schema precheck and VLM review |
| artifacts. The metadata precheck retains a non-fatal warning for absent |
| `hand_joints`; this is expected given the documented source-data scope above. |
|
|
