Xiongge0212/dextraverse-rig-grasp-n261

DextraVerse rig grasp, 261 demonstrations

Teleoperated grasp demonstrations recorded on the real DextraVerse rig: a Vega dual-arm robot with two 22-DOF Sharpa dexterous hands, a head camera, two wrist cameras and fingertip tactile sensing. This is the merged corpus rig_grasp_merged_20260908_n261.

Demonstrations	261
Frames	138,382
Duration	123.0 min at 20 Hz (control loop 50 Hz)
Size	42.9 GB, one gzip-compressed HDF5 file
Hand used	left 140, right 116, both 3, none 2
Recorded	2026-09-02 to 2026-09-06, ten sessions

Files

File	Contents
rig_grasp_merged_20260908_n261.hdf5	The data.
rig_grasp_merged_20260908_n261.md	Generated report: source sessions, observation keys, one row per demo with flags.
rig_grasp_merged_20260908_n261.json	The same report, machine readable.

SHA-256 of the HDF5 file: 9961d734cad21391679c9bd5f0622fc4fd37f0c0320402fe00c4b973409d4e17

Layout

robomimic-style HDF5. Demos are data/demo_0 to data/demo_260; each has a num_samples attribute. data.attrs["env_args"] is a JSON string with the recording settings and joint names.

Dataset	Per-step shape	dtype
actions	(63,)	float32
rewards	()	float32
dones	()	int64
obs/arm_joint_pos	(14,)	float32
obs/arm_joint_vel	(14,)	float32
obs/cfg_joint_pos	(63,)	float32
obs/ee_pose_quat	(2, 7)	float32
obs/hand_joint_pos	(2, 22)	float32
obs/hand_joint_cmd	(2, 22)	float32
obs/finger_force_mag	(10,)	float32
obs/finger_force_dir_sensor	(10, 3)	float32
obs/tactile_map	(10, 24, 24)	uint8
obs/tacmap_sensor_pose	(10, 4, 4)	float32
obs/grasp_phase	(2,)	float32
obs/head_camera_rgb	(240, 320, 3)	uint8
obs/left_wrist_rgb	(240, 320, 3)	uint8
obs/right_wrist_rgb	(240, 320, 3)	uint8
obs/timestamp	(1,)	float32

Arrays with a leading 2 are ordered left, right. Arrays with a leading 10 cover the ten fingers. Forces are in newtons.

import h5py

with h5py.File("rig_grasp_merged_20260908_n261.hdf5", "r") as f:
    demo = f["data/demo_0"]
    actions = demo["actions"][:]               # (T, 63)
    head = demo["obs/head_camera_rgb"][:]      # (T, 240, 320, 3)
    force = demo["obs/finger_force_mag"][:]    # (T, 10)

Known flags

Four demonstrations carry quality flags. They were reviewed on 2026-09-08 and kept on purpose; filter them out if your use needs clean episodes.

Demo	Flag
demo_32	4.83 s recording stall mid-episode
demo_33	5.88 s recording stall, and no grasp
demo_42	1.16 s recording stall
demo_96	no grasp

The file has no held-out split. The 49 demos at indices 212 to 260 come from one session (session_20260904_150927) and can serve as a test set against the first 212.