{
  "name": "DeformableObjectsGrasping",
  "url": [
    "https://huggingface.co/datasets/KelinYu1/DeformableObjectsGrasping"
  ],
  "version": "1.0.0",
  "description": "Vision-tactile recordings of pinch and slide interactions with deformable fruits using a custom gripper. Each episode contains synchronized RealSense RGB frames and one exported GelSight tactile stream from a sensor pad on one gripper jaw; no second tactile channel is included in this OXT release. No synchronized gripper aperture, joint-state, wrist-pose, or action trajectory is available, so no hand_joints or hand_joints_idx field is exported and no missing state is synthesized. This OXT conversion includes apple, lemon, orange, plum, and tomato interactions and intentionally omits the non-frame-aligned source position, force, and outcome-label fields.",
  "type": "gripper",
  "sensor_image": [
    "GelSight"
  ],
  "sensor_array": [],
  "sensor_state": [],
  "label": [],
  "task": 2,
  "trajectory": 1266,
  "frame": 37980,
  "contact": [
    "Kelin Yu, kyu85@umd.edu"
  ],
  "reference": {
    "paper": "Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer",
    "website": "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"
  },
  "code_trigger": "DeformableObjectsGrasping"
}