DexManiTac Dataset

Open X-Tactile / FTP-1 compatible manipulation data collected with a Franka FR3, parallel gripper, Intel RealSense cameras, and one Xense vision-based tactile sensor.

Hugging Face: https://huggingface.co/datasets/xinpan/DexManiTac

Summary

• 5 tasks
• 337 trajectories
• 29,802 synchronized frames (approximately 49.7 minutes at 10 Hz)
• Xense installed on the left gripper pad (functional-area ID = 0)
• Contact: mengxinpan2024@ia.ac.cn

Task	Trajectories	Frames
In-hand relocation	124	12,268
Pull bottle	60	4,010
Stamp	65	6,418
Wipe board	25	3,270
Wipe board with a pre-grasped tool	63	3,836

Contents

Each task is stored as a Zarr v2 directory with data/ arrays and meta/episode_ends. The main fields are:

• camera_main_rgb: D435 RGB, 224 x 224
• right_wrist_camera_rgb: D405 RGB, 224 x 224
• right_arm_joints: seven FR3 joint positions
• right_hand_joints: parallel-gripper width, canonical index 28
• right_wrist_pose: xyz in the FR3 base frame plus rotation vector
• right_tactile_data_xense_image: Xense RGB tactile image
• right_tactile_data_xense_force_grid: 35 x 20 x 3 dense force field
• right_tactile_data_xense_force_resultant: six-dimensional force resultant
• paired right_tactile_area_*, right_tactile_sensor_*, and right_tactile_type_* metadata arrays
• sub_task_instruction and timestamps

All camera and tactile images are RGB. Modalities were nearest-neighbor aligned to the host timestamp using their recorded source timestamps, then cropped to common temporal support. Source HDF5 files were not modified.

In the Hugging Face Files and versions view and in ModelScope, task stores are packaged under one dataset parent directory rather than exposed at the repository root:

DexManiTac/
|-- inhand_relocation.zarr.zip
|-- pull_bottle.zarr.zip
|-- stamp.zarr.zip
|-- wipe_board.zarr.zip
`-- wipe_board_simple_pregrasp.zarr.zip

Quality control

validation_report.json records the automated schema, episode-boundary, timing, shape, metadata, and full floating-point finite-value checks. source_manifest.csv provides per-episode provenance and synchronization statistics. The qc/ directory contains visual montages, and video.mp4 is a short multi-task preview.

Conventions

The sensor identifier is Xense. Its functional area is confirmed as the left gripper pad / thumb side (0). right_wrist_pose preserves the FR3-base world frame and the collected end-effector local-axis convention; no additional fixed transform to another gripper convention has been applied.

License

License to be confirmed before public release.