UniVTAC OXT 转换数据集

# UniVTAC-OXT UniVTAC-OXT is the FTP-1/OXT-compatible release of UniVTAC, a simulated visuo-tactile manipulation dataset. It contains 800 trajectories, 152080 frames, and 8 tasks. Every trajectory contains a fixed main-camera stream, a wrist-camera stream, Franka arm/gripper joint states, and two GelSight Mini tactile image streams. The original HDF5 release is available at https://modelscope.cn/datasets/byml2024/UniVTAC. The converted dataset is hosted at https://modelscope.cn/datasets/byml2024/UniVTAC-OXT. Conversion provenance and the original per-trajectory result fields are retained in `conversion_manifest.json`. The converted task archives are organized as `UniVTAC/<task>/*.zarr.zip` according to the OXT supplementary submission layout.