| --- |
| pretty_name: VisuoTactile-GS |
| tags: |
| - robotics |
| - tactile |
| - open-x-tactile |
| - ftp-1 |
| - densetact |
| task_categories: |
| - robotics |
| --- |
| |
| # VisuoTactile-GS |
|
|
| Visuo-tactile contact data with DenseTact optical tactile images paired to RGB |
| views, packaged in the [Open-X-Tactile](https://open-x-tactile.github.io/) / |
| FTP-1 zarr format. |
|
|
| The data format, key naming, pose convention and field semantics are defined by |
| Open-X-Tactile. Please refer to the |
| [OXT website](https://open-x-tactile.github.io/) and the |
| [FTP-1 data processing documentation](https://github.com/michaelyuancb/ftp1-policy/blob/main/data_processing/README.md) |
| for how to read and interpret these files. |
|
|
| ## Contents |
|
|
| | Sub-dataset | Frames | Scene | |
| | --- | --- | --- | |
| | `block.zarr` | 166 | textured block | |
| | `bunny_real.zarr` | 134 | bunny figurine | |
| | `mirror.zarr` | 113 | mirror (specular) | |
|
|
| Total: 3 tasks, 3 trajectories, 413 frames. Images are 224x224. The tactile |
| stream is a single DenseTact pad (`right_tactile_area_gripper = 0`, type |
| `image`); the hand stream is a single gripper aperture channel |
| (`right_hand_joints_idx = 28`). |
|
|
| ## Loading |
|
|
| ```python |
| import zarr |
| |
| root = zarr.open_group("bunny_real.zarr", mode="r") |
| data = root["data"] |
| print(list(data.keys())) |
| print(data["right_tactile_data_gripper"].shape) # (T, 1, 224, 224, 3) |
| ``` |
|
|
| ## A note on how the pairs were formed |
|
|
| The source data captured RGB views and tactile contacts as independent sweeps, |
| so there is no shared timestamp between the two streams. Each tactile |
| contact is paired with an RGB view by **pose**: the view is chosen so that the |
| contact point projects inside the image, is in front of the camera, and the |
| camera's optical axis is well aligned with the finger's approach direction. The |
| RGB frame is then cropped to a square window centred on the projected contact. |
|
|
| Consequently a frame index is a contact, not a timestep, and consecutive frames |
| are not a continuous trajectory. Treat this as a paired visuo-tactile contact |
| set rather than a manipulation demonstration. |
|
|
