TactileMimic

Teleoperated pick-up manipulation on a ROBOTIS OMY-F3M arm with a parallel gripper, recorded with a wrist-mounted RealSense D405 RGB camera and two GelSight Mini visuo-tactile sensors on the fingertips. 26 everyday and YCB objects, processed to the FTP-1 format.

This dataset is part of Open-X-Tactile (OXT). The data format (zarr layout, key names, pose convention, tactile fields) follows the FTP-1 data processing specification; see the OXT website for the format documentation.

Contents

Tasks	26 (one zarr per task)
Trajectories	369 (successful episodes only)
Frames	147,347 at 15 Hz (about 2.7 h)
Embodiment	ROBOTIS OMY-F3M arm, parallel gripper (type: gripper)
RGB	right_wrist_camera_rgb: Intel RealSense D405 wrist camera, 224x224
Tactile	right_tactile_data_gripper: 2x GelSight Mini (sensor_image: GelSightMini), 224x224 RGB each; area 0 = thumb-side finger, area 1 = index-side finger
Gripper joint	right_hand_joints_idx = 28

Layout

pick_place/
  TactileMimic_pick_place.tar   # extracts to pick_place/<task>.zarr
README.md

tar -xf pick_place/TactileMimic_pick_place.tar

Tasks

zarr	instruction	episodes	frames
bottle	pick up the bottle	3	1,040
bottle_cap	pick up the bottle cap	7	2,610
charger	pick up the charger	10	4,196
cup	pick up the cup	20	7,534
kitchen_sponge	pick up the kitchen sponge	10	5,039
paper_cup	pick up the paper cup	10	5,221
pen	pick up the pen	20	7,101
perfume_bottle	pick up the perfume bottle	10	4,204
razor	pick up the razor	10	4,236
screwdriver	pick up the screwdriver	10	3,578
spoon	pick up the spoon from the cup	10	3,846
spray_bottle	pick up the spray bottle	4	1,704
straw	pick up the straw from the cup	11	3,482
tape	pick up the roll of tape	10	3,245
toothbrush	pick up the toothbrush	115	50,173
wrench	pick up the wrench on or in the cup	9	3,054
ycb_baseball	pick up the baseball	10	3,563
ycb_french_mustard_bottle	pick up the mustard bottle	10	3,899
ycb_golf_ball	pick up the golf ball	10	3,609
ycb_padlock_and_keys	pick up the padlock and keys	10	4,073
ycb_plastic_banana	pick up the plastic banana	10	3,794
ycb_plastic_lemon	pick up the plastic lemon	10	3,710
ycb_plastic_orange	pick up the plastic orange	10	3,318
ycb_rope	pick up the rope	10	3,604
ycb_scotch_brite_dobie_sponge	pick up the scrub sponge	10	4,019
ycb_tennis_ball	pick up the tennis ball	10	3,495

Authors

Haebeom Jung, Hyunjoon Lee, Hyedo Kim, Jinmo Kim, and Jaesik Park (Seoul National University)

Contact: haebeom.jung@snu.ac.kr

License

CC BY-NC 4.0