Upload README.md

README.md

@@ -1,3 +1,144 @@
----
-license: mit
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+# 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.