File size: 5,077 Bytes
c50e957 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 | # EventTouch Dataset
## 1. Overview
The EventTouch dataset contains data from tactile-sensor contact experiments and finite element method (FEM) simulations. It includes sensor outputs, contact forces, nodal displacements, and experimental parameters collected for different objects, contact poses, and press depths.
The dataset can be used for:
- tactile perception research;
- contact-force prediction;
- FEM simulation validation;
- comparison of simulated and real-world data; and
- tactile-sensor calibration.
## 2. Dataset Structure
```text
data/
└── sensor/
└── object/
└── pose/
└── press_depth/
├── fem_sensor.csv
├── fem_node.csv
├── real_sensor.csv
└── camera_frames/
```
Directory descriptions:
- `sensor` identifies different types of tactile sensor.
- `object` identifies the geometry, material, and radius of the contact object(mm).
- `pose` identifies the contact pose of the object.
- `press_depth` identifies the press depth.
- Each lowest-level directory contains the data from one complete experiment.
## 3. File Descriptions
### `fem_sensor.csv`
Contains the simulated six-axis force/torque data. Each row corresponds to one simulation frame. The number of data rows, excluding the header, is the number of valid frames in the experiment.
### `fem_node.csv`
Contains the displacements and contact forces of the tactile sensor's surface nodes.
### `real_sensor.csv`
Contains the raw and processed measurements from the physical sensor experiment.
### `camera_frames`
A folder contains camera frames of vision_based tactile sensor.
## 4. Field Descriptions
### Sensor types
- `digit`: digit sensor;
- `s1`: sphere vision-based tactile sensor;
- `s2`: ellipsoid vision-based tactile sensor;
- `s3`: large area resister-based tactle sensor;
### Contact poses
For spherical objects:
- `pose1`: centered pressing;
- `pose2`: gripper offset upward by 2 mm;
- `pose3`: gripper offset upward by 4 mm;
- `pose4`: gripper offset downward by 2 mm; and
- `pose5`: gripper offset downward by 4 mm.
For cylindrical objects:
- `pose1`: centered pressing;
- `pose2`: gripper offset forward by 2 mm;
- `pose3`: gripper offset forward by 4 mm;
- `pose4`: gripper offset backward by 2 mm; and
- `pose5`: gripper offset backward by 4 mm.
### Material codes
| Code | Material |
|---|---|
| `0010` | Ecoflex 00-10 |
| `0030` | Ecoflex 00-30 |
| `0050` | Ecoflex 00-50 |
| `15A` | Dragon Skin 15 |
| `PLA` | PLA |
### `fem_sensor.csv`
| Field | Description | Unit |
|---|---|---|
| `frame` | Frame index, starting from 0 | Dimensionless |
| `Fx` | Force along the x-axis | N |
| `Fy` | Force along the y-axis | N |
| `Fz` | Force along the z-axis | N |
| `Mx` | Moment about the x-axis | N·m |
| `My` | Moment about the y-axis | N·m |
| `Mz` | Moment about the z-axis | N·m |
### `fem_node.csv`
| Field | Description | Unit |
|---|---|---|
| `frame` | Frame index, starting from 0 | Dimensionless |
| `time_s` | Simulation time | s |
| `node_id` | Node identifier | Dimensionless |
| `x_m` | x-coordinate of the node | m |
| `y_m` | y-coordinate of the node | m |
| `z_m` | z-coordinate of the node | m |
| `ux_m` | Node displacement along the x-axis | m |
| `uy_m` | Node displacement along the y-axis | m |
| `uz_m` | Node displacement along the z-axis | m |
| `fx_N` | Contact force on the node along the x-axis | N |
| `fy_N` | Contact force on the node along the y-axis | N |
| `fz_N` | Contact force on the node along the z-axis | N |
### `real_sensor.csv`
| Field | Description | Unit |
|---|---|---|
| `frame` | Frame index, starting from 0 | Dimensionless |
| `sensor_ros_time_ns` | Sensor timestamp | ns |
| `phase` | Gripper operating phase | Dimensionless |
| `device_raw_fx` | Raw x-axis force measured by the six-axis force/torque sensor | N |
| `device_raw_fy` | Raw y-axis force measured by the six-axis force/torque sensor | N |
| `device_raw_fz` | Raw z-axis force measured by the six-axis force/torque sensor | N |
| `device_raw_mx` | Raw x-axis moment measured by the six-axis force/torque sensor | N·m |
| `device_raw_my` | Raw y-axis moment measured by the six-axis force/torque sensor | N·m |
| `device_raw_mz` | Raw z-axis moment measured by the six-axis force/torque sensor | N·m |
| `corrected_fx_F_N` | Zero-offset-corrected x-axis force | N |
| `corrected_fy_F_N` | Zero-offset-corrected y-axis force | N |
| `corrected_fz_F_N` | Zero-offset-corrected z-axis force | N |
| `corrected_mx_F_Nm` | Zero-offset-corrected x-axis moment | N·m |
| `corrected_my_F_Nm` | Zero-offset-corrected y-axis moment | N·m |
| `corrected_mz_F_Nm` | Zero-offset-corrected z-axis moment | N·m |
| `camera_image_path` | Path to the visual-tactile sensor image associated with the current frame | N/A |
## 5. Notes
1. The raw 1,000 Hz signals from the physical six-axis force/torque sensor are downsampled to 60 Hz.
2. Images from the visual-tactile sensor are captured at 30 frames per second.
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