{
  "dataset": "ContactWorld",
  "sensor": "GelSightWedgeR1.5",
  "robot": "Franka Panda",
  "end_effector": "parallel-jaw gripper",
  "sensor_count": 1,
  "functional_area_id": 0,
  "supplementary_tactile_present": false,
  "note": "The processed Zarr files do not contain a data/supplementary_tactile key. TacRGB, TacDepth, and TacFF are represented as named OXT tactile packages. This file documents the non-RGB tactile representations, especially TacFF.",
  "groups": {
    "right_tactile_data_tacrgb": {
      "type": "image",
      "shape": ["T", 1, 320, 240, 3],
      "dtype": "uint8",
      "channel_order": ["R", "G", "B"],
      "description": "GelSight tactile RGB image copied from tactile_rgb_right."
    },
    "right_tactile_data_tacdepth": {
      "type": "image",
      "shape": ["T", 1, 320, 240, 1],
      "dtype": "float32",
      "channel_order": ["depth"],
      "unit": "source sensor depth unit",
      "normalization": "No additional scaling or normalization in the OXT converter.",
      "description": "Single-channel tactile depth map copied from tactile_depth_right."
    },
    "right_tactile_data_tacff": {
      "type": "matrix",
      "shape": ["T", 1, 10, 14, 3],
      "dtype": "float32",
      "channel_order": [
        "Fz-like",
        "Fx-like",
        "Fy-like"
      ],
      "channel_semantics": {
        "0": "Normal-direction marker-displacement-derived component.",
        "1": "In-plane shear-x marker-displacement-derived component.",
        "2": "In-plane shear-y marker-displacement-derived component."
      },
      "physical_force_calibrated": false,
      "unit": "source TacFF value / sensor-specific arbitrary unit",
      "normalization": "Raw source values are copied without division, scaling, clipping, or standardization.",
      "coordinate_frame": "GelSight sensor-local frame",
      "description": "Dense 10x14 tactile vector field. The three components preserve the source channel order and are not asserted to be calibrated forces in Newtons."
    }
  }
}