Recording setup
This document describes the hardware and sensor configuration used to record the React dataset. Schema for the resulting .pt files is in schema.md.
Collection method — robot-arm-free, human-hand operated
React is recorded without any robot arm. A human operator holds one GelSight Mini sensor in each hand and performs the task directly. Compared to robot-collected manipulation data this means:
- No robot kinematic constraints, no robot occluding the scene, no robot-specific visual features.
- The tactile sensors move with natural human-hand dynamics — varied trajectories, jerks, regrasps, etc.
- Cross-embodiment by design: any downstream policy / dynamics model trained on this data does not bake in a particular robot morphology.
The trade-off: there are no robot joint angles or commanded actions in the data. Sensor 6-DoF pose comes from a motion-capture system (OptiTrack VRPN) tracking rigid-body markers rigidly attached to the back of each GelSight Mini, and a separate rigid body tracks the manipulated object (e.g. the motherboard). The dataset therefore does not include action labels and is not an imitation-learning / behavioral-cloning corpus.
Sensors
| Stream | Hardware | Native shape | Rate |
|---|---|---|---|
| 3 × RealSense color | Intel D415 (serials 143322063538, 104122062574, 217222066989) |
480×640×3 uint8 (BGR) | 30 FPS |
| 3 × RealSense depth | same | 480×640 uint16 (mm) | 30 FPS |
| 2 × GelSight tactile | GelSight Mini (left / right, handheld) | 480×640×3 uint8 | ~25 FPS, resampled to camera ticks |
| 3 × OptiTrack rigid bodies | motherboard, sensor_left, sensor_right |
7-vector (x, y, z, qx, qy, qz, qw) | ~120 Hz |
Each RealSense camera's calibration is stored in the source repo under twm/calibration/result/T_mocap_to_cam_{middle,left,right}.json. The serial→position mapping:
| Camera | Serial | Calibration file | Role |
|---|---|---|---|
cam0 |
143322063538 |
T_mocap_to_cam_right.json |
right-side view |
cam1 |
104122062574 |
T_mocap_to_cam_left.json |
left-side view |
cam2 |
217222066989 |
T_mocap_to_cam_middle.json |
overhead / center view |
The OptiTrack-to-GelSight rigid transforms are stored alongside in T_gel_to_rigid_{left,right}.json. These let you project the GelSight contact center into any of the three camera views; see the per-recording GIFs under figures/episode_previews/ for examples.
Timing
All streams share a common monotonic timestamp axis, recorded in the timestamps dataset (camera tick rate, 30 Hz). Per-tracker OptiTrack streams keep their own higher-rate timestamps under optitrack/<body>/timestamps in the raw HDF5 (not preserved in the processed .pt slice).
The processed dataset (processed/mode1_v1/...) nearest-neighbor-aligns the OptiTrack pose stream to camera ticks. The full ~120 Hz pose track is only in the raw HDF5 mirror.
Coordinate frames
- OptiTrack reports positions in meters relative to the mocap room origin.
- Quaternions follow
(qx, qy, qz, qw)ordering (scalar last). - The
T_mocap_to_cam_*extrinsics map mocap-frame coordinates into camera-frame coordinates (right-handed, +Z forward).
Tasks recorded
| Task | Description |
|---|---|
motherboard |
Bimanual manipulation of components on a computer motherboard (CPU placement, lever seat, screw tightening). |
More tasks will be added as collection continues; see ../tasks.json for the machine-readable registry.