DeformableObjectsGrasping — OXT Conversion

This directory contains an Open-X-Tactile / FTP-1-style conversion of the DeformableObjectsGrasping fruit interaction dataset.

For the Open-X-Tactile data format and project information, see https://open-x-tactile.github.io/.

Hosted file layout

The repository stores the two Zarr datasets as archives under the required inner dataset directory:

DeformableObjectsGrasping/
├── pinch.zarr.zip
└── slide.zarr.zip

Extract an archive before opening it with Zarr. Each archive contains one top-level directory named pinch.zarr or slide.zarr.

Source paper

Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer

• Paper: 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

This release corresponds to the exploratory-action formulation in Section III-A and the fruit-grasping experiments in Section IV-B (Figs. 4–5) of the source paper. It contains the locally available five-fruit subset described below.

Contents

• pinch.zarr: 633 pinch episodes, 30 synchronized frames per episode.
• slide.zarr: 633 slide episodes, 30 synchronized frames per episode.
• Each frame contains a RealSense RGB image and one GelSight tactile image.
• The dataset covers apple, lemon, orange, plum, and tomato interactions.

Custom gripper and joint-state scope

The source platform uses a custom gripper. No synchronized gripper aperture, joint-state, wrist-pose, or action trajectory is available for the exported image frames. Therefore:

• no *_hand_joints field is exported;
• no *_hand_joints_idx field applies;
• FAAS gripper slot 28 is not assigned because there is no exported joint channel;
• no missing gripper state or action is synthesized.

hand_joints_idx.png records this intentional N/A state for manual review. The dataset should be treated as synchronized vision-tactile observation data, not as a complete action-conditioned policy trajectory dataset.

Tactile topology

This OXT release exports one GelSight tactile stream from a sensor pad on one gripper jaw. No second tactile channel is included. The sole exported channel is represented as:

• right_tactile_data_gripper: (T, 1, 150, 200, 3);
• right_tactile_area_gripper: (T, 1), constant functional-area index 0;
• right_tactile_sensor_gripper: constant value GelSight;
• right_tactile_type_gripper: constant value image.

The physical pad location and index are illustrated in tactile_func_area_idx.png.

Intentionally omitted source fields

The source Position.npy and Force.npy streams are not aligned one-to-one with the 30 synchronized RGB/GelSight frames and are not exported. The original per-trial outcome labels and thresholds are also outside the current FTP-1 observation schema and are not exported. These omissions are documented rather than replaced with inferred values.

Quality-control artifacts

oxt_check_output/ contains the metadata/schema precheck and VLM review artifacts. The metadata precheck retains a non-fatal warning for absent hand_joints; this is expected given the documented source-data scope above.