5 episodes · 15 fps · 5 cameras · 640×360 avc1
RoboLab Tactile Test Dataset
Simulated robot manipulation dataset with GelSight tactile sensor data, collected in NVIDIA IsaacLab.
Overview
| Property | Value |
|---|---|
| Task | Pick up banana and place in bowl |
| Robot | Franka Panda + Robotiq 2F-85 gripper |
| Policy | π0.5 (pi0.5_droid_jointpos) |
| Episodes | 5 |
| Total frames | 715 |
| FPS | 15 Hz |
| Success rate | 100% (5/5) |
| Format | LeRobot v3.0 |
Sensors
- external_cam: 360×640 RGB (third-person view)
- wrist_cam: 360×640 RGB (wrist-mounted)
- ego: 240×432 RGB (egocentric mirrored)
- tactile_left: 320×240 RGB (GelSight on left finger)
- tactile_right: 320×240 RGB (GelSight on right finger)
Tactile Setup
GelSight Mini-style sensors simulated on both fingers of the Robotiq 2F-85 gripper:
- Compliant fingertip contact (stiffness=200, damping=1.0)
- Backstop depth: 3.0mm
- Camera focal length: 6.9mm
- Pad cameras positioned at empirically tuned offsets
Features
| Feature | Type | Shape |
|---|---|---|
| action | float32 | [8] |
| observation.state | float32 | [13] |
| observation.velocity | float32 | [13] |
| observation.ee_position | float32 | [3] |
| observation.ee_orientation | float32 | [4] |
| observation.images.external_cam | video | [360, 640, 3] |
| observation.images.wrist_cam | video | [360, 640, 3] |
| observation.images.ego | video | [240, 432, 3] |
| observation.images.tactile_left | video | [320, 240, 3] |
| observation.images.tactile_right | video | [320, 240, 3] |
Collection
Collected using RoboLab with the π0.5 vision-language-action policy serving actions via gRPC. The tactile sensors are integrated into the Robotiq gripper fingers using compliant contact simulation in PhysX.
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