VisuoTactile-GS

Visuo-tactile contact data with DenseTact optical tactile images paired to RGB views, packaged in the Open-X-Tactile / 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 and the FTP-1 data processing documentation 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

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.