license: cc-by-4.0
task_categories:
- robotics
tags:
- tactile
- dexterous-manipulation
- bimanual
- open-x-tactile
pretty_name: SharpaTacData
size_categories:
- 100K<n<1M
SharpaTacData
Dexterous manipulation data with fingertip tactile sensing from the DextraVerse project (MARS Lab, Nanyang Technological University): a Dexmate Vega dual-arm robot with two 22-DoF SharpaWave hands. Everything is in the Open-X-Tactile format (the FTP-1 zarr layout); the Open-X-Tactile site documents the format and how to load it.
All archives live in DextraVerse/, which holds two sub-datasets:
| Folder | Data | Tasks | Episodes | Frames | Archives |
|---|---|---|---|---|---|
DextraVerse/SharpaTacData.tar |
real robot | 1 (pick up a cube, place it in a box) | 261 | 138,382 | SharpaTacData.tar (43 GB) |
DextraVerse/<task>.zarr.zip |
simulation (Isaac) | 3 (handover, pick and place, stack cube) | 300 | 135,734 | three <task>.zarr.zip (25 GB) |
Each sub-dataset has its own README with the array list, conventions and known limitations. The two share the robot, the hand-joint slot assignment and the wrist-frame convention; they differ in sensors (real SharpaWave fingertips versus synthetic deformation maps and PhysX contact forces), cameras and tactile group names. Read the sub-dataset README before mixing them.
SHA256SUMS.txt lists the hash of every archive:
sha256sum -c SHA256SUMS.txt
tar -xf DextraVerse/SharpaTacData.tar # -> SharpaTacData/pick_cube_place_box.zarr
unzip DextraVerse/handover.zarr.zip # -> handover.zarr (ZIP64)
License and contact
Released under CC BY 4.0. Contact: xiangyu.chen@ntu.edu.sg