| # Sparsh-skin dataset | |
| For Sparsh-skin the dataset consists of ~4 hours of contact data with different types of household objects, collected via a VR teleoperation using the Meta Quest 3. | |
| There are 14 different objects in the dataset, each containing 10 sequences per object, which are each ~2 mins long. Every object has varied interaction with the object, including sliding, tapping, object reorientation in the hand, and the like. | |
| We provide the sequences used for SSL training in an extracted `pickle` format. Each sequence in the dataset has the following structure: | |
| ```bash | |
| . | |
| ├── ball | |
| │ ├── 0 | |
| │ │ ├── allegro # contains data.pkl with allegro joint states information | |
| │ │ └── xela # contains `data.pkl` and `forces.pkl`; `data.pkl` contains raw data used for training, and `forces.pkl` contains | |
| │ ├── 1 | |
| | |.... | |
| | | |
| |-- baseline | |
| │ ├── allegro | |
| │ ├── realsense | |
| │ │ └── color | |
| │ └── xela | |
| |-- urdf | |
| ``` | |