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README.md

@@ -1,48 +1,329 @@
 ---
-dataset_info:
-  features:
-  - name: image
-    dtype: image
-  - name: object
-    dtype: string
-  - name: region
-    dtype: string
-  - name: object_region
-    dtype: string
-  - name: force_level
-    dtype: string
-  - name: motion
-    dtype: string
-  - name: fsr_voltage
-    dtype: float32
-  - name: force_n
-    dtype: float32
-  - name: hardness
-    dtype: string
-  - name: material
-    dtype: string
-  - name: description
-    dtype: string
-  - name: interaction_num
-    dtype: string
-  - name: frame_num
-    dtype: string
-  - name: interaction_id
-    dtype: string
-  splits:
-  - name: train
-    num_bytes: 1796329837
-    num_examples: 120960
-  - name: test_unseen
-    num_bytes: 213954883
-    num_examples: 14400
-  download_size: 1998921344
-  dataset_size: 2010284720
-configs:
-- config_name: default
-  data_files:
-  - split: train
-    path: data/train-*
-  - split: test_unseen
-    path: data/test_unseen-*
+language:
+- en
+license: cc-by-4.0
+
+pretty_name: Touch-Ex
+
+task_categories:
+- image-classification
+- feature-extraction
+
+tags:
+- tactile-sensing
+- visuo-tactile
+- robotics
+- digit-sensor
+- multimodal
+- tactile-language
+- tactile-perception
+- representation-learning
+- force-aware-perception
 ---
+
+# Touch-Ex: A Region-Level, Force-Annotated Visuo-Tactile Dataset
+
+## Dataset Summary
+
+Touch-Ex (Touch Exploration) is a region-level, force-annotated visuo-tactile dataset collected using a DIGIT vision-based tactile sensor and a collection of common UK household objects. The dataset was designed to support research in tactile representation learning, force-aware perception, object-region recognition, temporal tactile modelling, tactile-language alignment and in particular, active tactile exploration.
+
+The dataset contains more than 135,000 visuo-tactile frames collected across 1,128 tactile interactions from 23 household objects spanning a wide range of materials, textures, geometries, and compliance levels. Data collection was designed to ensure balanced representation across objects, with each object in the training split contributing an equal number of tactile samples regardless of the number of annotated regions.
+
+Touch-Ex is divided into two predefined splits:
+
+- **Train:** 14 objects used for model development, training, validation, and in-distribution evaluation.
+- **Test Unseen:** 9 objects reserved exclusively for object-level generalisation evaluation.
+
+Each dataset sample corresponds to a single tactile frame and includes image data, force measurements, interaction metadata, semantic descriptions, and structured tactile attributes.
+
+## Example Samples
+
+| image | object | region | force_level | motion | material | hardness | description |
+|--------------|---------|---------|---------|---------|---------|---------|---------|
+| ![](images/examples/hammer_handle_sliding_fl3.jpg) | hammer | handle | 3 | sliding | rubber | medium-hard | An elongated, solid rubber-coated gripping area featuring small, evenly spaced circular dimples that provide a repeating texture. |
+| ![](images/examples/scissors_blades_rotation_fl2.jpg) | scissors | blades | 2 | rotation | metal | hard | A pair of elongated, flat metallic blades with polished surfaces that gradually taper to sharp outer edges and are joined at a raised pivot screw. |
+| ![](images/examples/tv_remote_buttons_sliding_fl1.jpg) | tv_remote | buttons | 1 | sliding | rubber | soft-medium | Small, compact raised rubber features, including rectangles, squares, and circles, that provide springy resistance when pressed. |
+
+*Touch-Ex samples showing tactile images and their key annotations.*
+
+---
+
+## Dataset Modality
+
+Following standard terminology for optical tactile sensors, "visuo-tactile" refers strictly to the internal image data captured by the DIGIT sensor's embedded camera. This dataset intentionally excludes external RGB camera views of the objects to prioritise compactness and pure tactile-language representation learning.
+
+---
+
+## Why Touch-Ex?
+
+Touch-Ex was designed to address several limitations of existing visuo-tactile datasets. While many tactile datasets focus primarily on object identity or contact localisation, Touch-Ex introduces region-level annotations, force-level annotations, and semantic tactile descriptions within a unified benchmark.
+
+Touch-Ex combines:
+- Region-level object annotations
+- Force-level tactile annotations
+- Sequential tactile interactions
+- Controlled exploratory motions
+- Natural-language tactile descriptions
+- Structured semantic attributes
+
+In addition to standard in-distribution evaluation, Touch-Ex provides a dedicated unseen object test split containing both alternative instances of known object categories and entirely new object categories. This enables systematic evaluation of object-level generalisation and the extent to which learned representations capture transferable tactile properties rather than object identity alone.
+
+---
+
+## Data Collection
+
+Touch-Ex was collected using a DIGIT vision-based tactile sensor operated manually by a human data collector, moving and orienting the DIGIT and the object as needed. 
+
+To enable force-aware data collection, a Grove Round Force Sensor (FSR402) was attached to the rear of the DIGIT sensor and connected to a Raspberry Pi Pico via a Grove Shield. 
+
+During data collection, the operator applied pressure to the rear of the sensor using their index finger (stabilising either side with their thumb and middle finger) while bringing the DIGIT into contact with the target object. The rear-mounted FSR measured this applied force, providing an estimate of how strongly the sensor was pressed against the object surface.
+
+Data acquisition was performed using a custom collection tool developed specifically for Touch-Ex: [https://github.com/gemixin/digit-fsr-gui](https://github.com/gemixin/digit-fsr-gui).
+
+The software simultaneously recorded tactile images and FSR measurements throughout data collection.
+
+Each tactile interaction was performed using one of two exploratory motions:
+
+- **Sliding:** controlled movement across an object surface while maintaining contact.
+- **Rotation:** controlled rotational movement about a target contact point.
+
+Every interaction consists of a sequence of 120 tactile frames collected from a labelled object region while maintaining a target force level. Every effort was made to ensure that contact remained within the target region throughout an interaction. However, for certain objects and regions, complete isolation was not always possible. For example, narrow football seams may include portions of adjacent panels due to their limited width.
+
+Contact points were sampled within each labelled region to ensure diverse coverage of the object surface, with care taken to include any distinctive or unique features. 
+
+### Force Annotation
+
+To improve consistency across interactions, FSR measurements were used to categorise contact into three predefined force levels. These force levels were designed to capture meaningful differences in sensor deformation while remaining practical for consistent human application.
+
+| Force Level | Description  |
+| ----------- | ------------ |
+| 1       | Contact Only |
+| 2       | Light Press  |
+| 3       | Firm Press   |
+
+During collection, a target force level was selected within the acquisition software. Real-time FSR measurements were used to monitor the applied force, while a connected LED bar provided visual feedback to the operator. The software additionally filtered tactile frames according to the selected target force level, ensuring that only samples falling within the predefined range for the chosen force category were retained.
+
+FSR measurements were calibrated using a dedicated calibration framework: [https://github.com/gemixin/digit-force-calibration](https://github.com/gemixin/digit-force-calibration).
+
+The dataset includes both raw FSR voltage measurements and approximate calibrated force estimates derived from the rear-mounted force sensor. While these values provide additional information about relative contact intensity, the primary force annotation is the discrete force-level label. The calibrated force estimates should therefore be considered approximate rather than laboratory-grade force ground truth.
+
+### Semantic Annotations
+
+The material labels, hardness labels, and natural-language descriptions were assigned by a human annotator and subsequently reviewed with the assistance of large language models to improve consistency.
+
+---
+
+## Dataset Structure
+
+The Hugging Face version of Touch-Ex uses a flattened tabular representation where each row corresponds to a single visuo-tactile frame.
+
+### Features
+
+| Feature             | Type    | Description                                          |
+| ------------------- | ------- | ---------------------------------------------------- |
+| image           | Image   | DIGIT visuo-tactile image                            |
+| object          | string  | Object label                                         |
+| region          | string  | Region label                                         |
+| object_region   | string  | Combined object-region label                         |
+| force_level     | string  | Discrete force category (1, 2 or 3)                  |
+| motion          | string  | Interaction motion type (sliding or rotation)        |
+| fsr_voltage     | float32 | Raw force-sensitive resistor voltage                 |
+| force_n         | float32 | Approximate calibrated force estimate (Newtons)      |
+| hardness        | string  | Perceived hardness label                             |
+| material        | string  | Primary material label                               |
+| description     | string  | Natural-language tactile description                 |
+| interaction_num | string  | Interaction identifier within region and force level |
+| frame_num       | string  | Frame number within interaction                      |
+| interaction_id  | string  | Unique interaction identifier                        |
+
+### Splits
+
+Touch-Ex is divided into two predefined splits:
+
+| Split       | Description                                                                                 |
+| ----------- | ------------------------------------------------------------------------------------------- |
+| Train       | 14 objects used for model development, training, validation, and in-distribution evaluation |
+| Test Unseen | 9 objects reserved for object-level generalisation evaluation                               |
+
+The unseen test split contains both alternative instances of known object categories and entirely new object categories.
+
+For evaluation, all frames originating from the same interaction should remain within the same dataset partition. Because interactions contain highly correlated frame sequences, frame-level train/test splitting is not recommended. The `interaction_id` field is provided to support leakage-free splitting.
+
+### Supplementary Files
+
+The repository includes several supplementary files in addition to the main dataset:
+
+| File               | Description                                                                                                      |
+| ------------------ | ---------------------------------------------------------------------------------------------------------------- |
+| `baseline.jpg`     | Reference DIGIT image captured without object contact. May be used for background subtraction and preprocessing. |
+| `metadata.csv`     | Interaction-level metadata containing object, region, force level, motion type, and interaction identifiers.     |
+| `descriptions.csv` | Region-level semantic annotations including material labels, hardness labels, and natural-language descriptions. |
+
+---
+
+## Dataset Contents
+
+### Training Objects
+
+|#|Object|Object Label|Region Labels|Specification|
+|---|---|---|---|---|
+|1|Toilet roll|toilet_roll|body, ends|New, full roll of unbranded, quilted white toilet paper|
+|2|Pringles tube (empty)|tube_pringles|body, lid, base|Empty 185g Original Flavour Pringles tube with lid; freshness seal removed|
+|3|Tin of beans (sealed)|tin_beans|body, lid, base|Sealed 415g tin of Heinz Baked Beans|
+|4|Tennis ball|tennis_ball|body, seam|Standard yellow Penn tennis ball|
+|5|Scissors|scissors|handle, blades|Large pair of general-purpose scissors|
+|6|Hammer|hammer|head, neck, handle|Hammer with rubber-dimpled handle|
+|7|Toothbrush|toothbrush|handle, head|Generic adult plastic toothbrush|
+|8|Mug|mug|body, handle, rim|Plain white ceramic mug|
+|9|Plastic bottle (empty)|plastic_bottle|body, cap, base|Empty 50cl Nestlé Pure Life still water bottle with lid; label removed|
+|10|Sponge scourer|sponge_scourer|sponge_side, scourer_side|Generic sponge scourer|
+|11|TV remote|tv_remote|body, buttons|Splinktech universal Samsung TV remote control|
+|12|Wooden spoon|wooden_spoon|handle, head|30cm wooden spoon|
+|13|Tea towel (folded)|tea_towel|surface, edge|Cotton tea towel with lattice-effect|
+|14|Football|football|panels, seams|Mitre Impel L30P size 3 football|
+
+![Train Split Objects](images/objects/labelled_objects.jpg)
+
+### Unseen Test Objects
+
+| #   | Object                     | Object Label       | Region Labels     | Specification                                             |
+| --- | -------------------------- | ------------------ | ----------------- | --------------------------------------------------------- |
+| 1   | Tin of mushy peas (sealed) | tin_peas         | body, lid, base   | Sealed 300g tin of Batchelors Original Mushy Peas         |
+| 2   | Scissors                   | small_scissors   | handle, blades    | Small pair of general-purpose scissors                    |
+| 3   | Mug                        | patterned_mug    | body, handle, rim | Patterned white ceramic mug                               |
+| 4   | Media remote               | media_remote     | body, buttons     | Xbox media remote control                                 |
+| 5   | Table knife                | table_knife      | handle, blade     | Standard stainless steel table knife                      |
+| 6   | Microfibre cloth (folded)  | microfibre_cloth | surface, edge     | White ribbed microfibre cleaning cloth with yellow edging |
+| 7   | Dish brush                 | dish_brush       | handle, head      | Spontex pink washing-up brush                             |
+| 8   | Beaker                     | beaker           | body, rim         | Patterned plastic beaker                                  |
+| 9   | Rubber ball                | rubber_ball      | body, ridges      | Chuckit! Ultra medium rubber ball                         |
+
+![Unseen Test Split Objects](images/objects/labelled_unseen_objects.jpg)
+
+---
+
+## Usage
+
+```
+from datasets import load_dataset
+
+dataset = load_dataset("gemixin/touch-ex")
+
+train = dataset["train"]
+test_unseen = dataset["test_unseen"]
+
+sample = train[0] 
+image = sample["image"]
+print({key: value for key, value in sample.items() if key != "image"})
+```
+
+The `image` field is automatically loaded as a PIL image object by the Hugging Face Datasets library.
+
+---
+
+## Supported Tasks
+
+Touch-Ex supports a broad range of visuo-tactile learning tasks, including:
+
+- Object classification
+- Object-region classification
+- Force-level classification
+- Force-aware tactile perception
+- Sequential tactile modelling
+- Representation learning
+- Tactile-language alignment
+- Multimodal learning
+- Active tactile exploration
+
+Reference implementations, baseline models, and future experiments will be available in the Touch-Ex repository: [https://github.com/gemixin/touch-ex](https://github.com/gemixin/touch-ex).
+
+---
+
+## Dataset Statistics
+
+| Statistic                  | Value    |
+| -------------------------- | -------- |
+| Training objects           | 14       |
+| Training object regions    | 33       |
+| Unseen test objects        | 9        |
+| Unseen test object regions | 20       |
+| Total objects              | 23       |
+| Total object regions       | 53       |
+| Force levels               | 3        |
+| Motion types               | 2        |
+| Frames per interaction     | 120      |
+| Total interactions         | 1,128    |
+| Total visuo-tactile frames | 135,360  |
+
+---
+
+## Related Resources
+
+### Dataset Collection Software
+
+[https://github.com/gemixin/digit-fsr-gui](https://github.com/gemixin/digit-fsr-gui)
+
+### Force Calibration Framework
+
+[https://github.com/gemixin/digit-force-calibration](https://github.com/gemixin/digit-force-calibration)
+
+### Touch-Ex Models and Experiments
+
+[https://github.com/gemixin/touch-ex](https://github.com/gemixin/touch-ex)
+
+### Raw Dataset
+
+The original hierarchical version of Touch-Ex, including the complete folder structure, interaction-level metadata, semantic annotation files, and baseline image, is available here:
+
+[https://drive.google.com/drive/folders/1Jw3O8ewLCXLjAZWtHekXgwb4KDu-blX2?usp=sharing](https://drive.google.com/drive/folders/1Jw3O8ewLCXLjAZWtHekXgwb4KDu-blX2?usp=sharing)
+
+---
+
+## Limitations
+
+- Data was collected using a single DIGIT tactile sensor.
+- Interactions were performed manually by a single operator.
+- Force measurements are intended primarily to support force-level categorisation and should not be interpreted as highly accurate force ground truth.
+- Objects are limited to household items collected in the United Kingdom.
+- The dataset does not include external RGB images or video streams of the objects.
+- Data was collected in a home office environment rather than a controlled laboratory setting.
+- Environmental conditions were not explicitly varied during collection.
+
+---
+
+## Ethical Considerations
+
+The dataset contains visuo-tactile observations of inanimate household objects and does not contain personal information, biometric data, human subjects, or sensitive content.
+
+The dataset is intended for research in tactile perception, robotics, multimodal learning, and representation learning.
+
+---
+
+## Citation
+
+If you use Touch-Ex in your research, please cite:
+
+```bibtex
+@dataset{mclean2026touchex,
+  author = {Gemma McLean},
+  title = {Touch-Ex: A Region-Level, Force-Annotated Visuo-Tactile Dataset},
+  year = {2026},
+  publisher = {Hugging Face},
+  url = {https://huggingface.co/datasets/gemixin/touch-ex}
+}
+```
+
+Touch-Ex was collected using the DIGIT vision-based tactile sensor. If you use this dataset in your research, please additionally cite the original DIGIT paper:
+
+```bibtex
+@article{lambeta2020digit,
+  title = {DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation},
+  author = {Lambeta, Mike and Chou, Po-Wei and Tian, Stephen and Yang, Brian and Maloon, Benjamin and Most, Victoria Rose and Stroud, Dave and Santos, Raymond and Byagowi, Ahmad and Kammerer, Gregg and Jayaraman, Dinesh and Calandra, Roberto},
+  journal = {IEEE Robotics and Automation Letters},
+  volume = {5},
+  number = {3},
+  pages = {3838--3845},
+  year = {2020},
+  doi = {10.1109/LRA.2020.2977257}
+}
+```

descriptions.csv

@@ -0,0 +1,54 @@
+object,region,hardness,material,description
+toilet_roll,body,soft,tissue paper,"A soft, compressible cylindrical surface composed of multiple layers of quilted tissue paper with a repeating embossed pattern."
+toilet_roll,ends,soft-medium,tissue paper,"Spiral-wound layers of soft tissue paper form a flat circular surface, with a smooth, rigid cardboard tube containing a hollow core at the centre."
+tube_pringles,body,medium-hard,cardboard,"A tall, rigid cylindrical tube made of dense cardboard, with the exterior wrapped in a smooth, glossy paper label applied in a spiral, creating faint ridges that can be felt beneath the surface."
+tube_pringles,lid,medium,plastic,"A thin, flexible circular plastic lid with a slightly raised rim, featuring a smooth, very slightly concave top surface and a small raised nodule at the centre."
+tube_pringles,base,medium-hard,cardboard,"A flat, recessed circular base made of thick, unfinished cardboard with a raised rim."
+tin_beans,body,hard,metal,"A cylindrical metal body wrapped in a smooth, glossy paper label, with horizontal ridges that can be felt beneath the label along the metal surface."
+tin_beans,lid,hard,metal,"A metallic circular lid with a raised rim and ring-pull, featuring concentric structural ridges and a smooth, cold finish."
+tin_beans,base,hard,metal,"A metallic circular bottom surface with a raised rim and a slightly recessed centre, featuring concentric structural ridges and a smooth, cold finish."
+tennis_ball,body,medium,felt,"A compliant spherical surface covered in dense, fuzzy felt with a fibrous texture."
+tennis_ball,seam,medium,rubber,"A coarse, recessed rubber track that winds in a continuous path along a spherical surface and has a dry, grainy texture."
+scissors,handle,hard,plastic,Ergonomically shaped dual-loop handles with a rigid plastic exterior.
+scissors,blades,hard,metal,"A pair of elongated, flat metallic blades with polished surfaces that gradually taper to sharp outer edges and are joined at a raised pivot screw."
+hammer,head,hard,metal,A solid metallic form featuring a flat circular face and a curved projection with a deep tapered V-shaped cleft.
+hammer,neck,hard,metal,"A rigid, narrow metallic cylinder with a cold, smooth surface."
+hammer,handle,medium-hard,rubber,"An elongated, solid rubber-coated gripping area featuring small, evenly spaced circular dimples that provide a repeating texture."
+toothbrush,handle,hard,plastic,"An elongated, slim, rigid, smooth plastic shaft with ergonomic contours and integrated rubber grip pads, terminating in a small, rigid plastic block with a tapered diamond-shaped profile."
+toothbrush,head,soft-medium,nylon,"Dense clusters of fine, flexible nylon bristles with a slightly prickly texture."
+mug,body,hard,ceramic,"A smooth, glazed ceramic body with a tapered cylindrical profile that gradually narrows towards the base, which features a raised rim."
+mug,handle,hard,ceramic,"A curved, loop-shaped ceramic handle with a smooth, glazed finish."
+mug,rim,hard,ceramic,"A circular, smooth, rounded rim that forms a continuous raised boundary between the inner and outer glazed ceramic surfaces."
+plastic_bottle,body,soft-medium,pet plastic,"A thin-walled, flexible PET plastic surface with an ergonomic hourglass profile, featuring a series of horizontal circumferential ribs intersected by raised vertical ridges."
+plastic_bottle,cap,hard,plastic,"A circular plastic component with vertical ridges along the outer edge and a perforated ring featuring jagged plastic teeth, with a tiny raised nodule at the centre of the top surface."
+plastic_bottle,base,medium,pet plastic,"A petaloid structure comprising curved, flexible PET plastic feet arranged around the perimeter, with valleys extending radially inwards towards a central indentation."
+sponge_scourer,sponge_side,soft,foam,"A highly compliant, porous foam block with a curved side indentation and a springy, airy texture that retains its shape after compression."
+sponge_scourer,scourer_side,medium,synthetic fibre,"A thin, dense layer of tangled, abrasive synthetic fibres forming a rectangular surface with an extremely rough, scratchy texture."
+tv_remote,body,hard,plastic,"An elongated matte plastic casing with a D-shaped cross-section, featuring recessed grooves, raised surface features, a fine linear micro-texture, and a recessed circular area at one end."
+tv_remote,buttons,soft-medium,rubber,"Small, compact raised rubber features, including rectangles, squares, and circles, that provide springy resistance when pressed."
+wooden_spoon,handle,hard,wood,"An elongated cylindrical shaft made of finished wood with a subtle natural grain texture, tapering towards a pointed tip and featuring a small circular through-hole."
+wooden_spoon,head,hard,wood,"A rounded form made of finished wood with a subtle natural grain texture, featuring a shallow concave depression on one face and a smooth convex profile on the reverse."
+tea_towel,surface,soft,cotton,"A soft, flexible woven cotton fabric surface with a distinct lattice pattern that creates a repeating texture."
+tea_towel,edge,soft,cotton,"A folded, stitched hemmed border with a crimped outer edge, featuring a dense, thick woven cotton fabric and a continuous line of stitching."
+football,panels,medium,pu leather,"A firm, compressible spherical PU leather surface consisting of individual hexagonal panels with a repeating micro-texture of fine, wavy lines and a small circular recessed opening on one panel."
+football,seams,medium,pu leather,Recessed channels formed where adjacent hexagonal PU leather panels are stitched together.
+tin_peas,body,hard,metal,"A cylindrical metal body wrapped in a smooth, glossy paper label, with horizontal ridges that can be felt beneath the label along the metal surface."
+tin_peas,lid,hard,metal,"A metallic circular lid with a raised rim, featuring concentric structural ridges and a smooth, cold finish."
+tin_peas,base,hard,metal,"A metallic circular bottom surface with a raised rim and a slightly recessed centre, featuring concentric structural ridges and a smooth, cold finish."
+small_scissors,handle,hard,plastic,Ergonomically shaped dual-loop handles with a rigid plastic exterior.
+small_scissors,blades,hard,metal,"A pair of elongated, flat metallic blades with polished surfaces that gradually taper to sharp outer edges and are joined at a raised pivot screw."
+patterned_mug,body,hard,ceramic,"A smooth, glazed ceramic body with a short cylindrical profile and near-vertical sides, featuring a printed decorative pattern on the outer surface and a raised rim around the base."
+patterned_mug,handle,hard,ceramic,"A curved, loop-shaped ceramic handle with a smooth, glazed finish."
+patterned_mug,rim,hard,ceramic,"A circular, smooth, rounded rim that forms a continuous raised boundary between the inner and outer glazed ceramic surfaces."
+media_remote,body,hard,plastic,"An elongated matte plastic casing with a wedge-like profile, featuring sloping side faces, rounded edges, tapered ends, and four small circular raised feet on the rear surface."
+media_remote,buttons,soft-medium,rubber,"A combination of recessed and raised rubber buttons, including circular and pill-shaped buttons, that provide springy resistance when pressed."
+table_knife,handle,hard,metal,A flat metallic handle featuring an elongated recessed rectangular panel formed by parallel incised grooves and a slight taper along its length.
+table_knife,blade,hard,metal,"An elongated metallic blade with a broad tapered profile, a rounded tip, and fine serrations along one side."
+microfibre_cloth,surface,soft,polyester,"A soft, flexible polyester fabric surface with a ribbed texture that forms parallel raised bands across the material."
+microfibre_cloth,edge,soft,polyester,"A stitched hemmed polyester border with a crimped outer edge, featuring a continuous line of stitching."
+dish_brush,handle,hard,plastic,"An elongated, rigid plastic handle with a curved tapered profile, ergonomic contours, integrated rubber grip pads, and a circular through-hole at one end."
+dish_brush,head,soft-medium,nylon,"Dense clusters of long, stiff nylon bristles, creating a slightly prickly texture."
+beaker,body,medium-hard,plastic,"A thin-walled plastic body with a tapered cylindrical profile, featuring a circular base with a raised rim and embossed markings."
+beaker,rim,medium-hard,plastic,"A circular, smooth, rounded rim that forms a continuous raised boundary between the inner and outer plastic surfaces."
+rubber_ball,body,medium,rubber,A compliant spherical rubber surface with a fine micro-texture and embossed markings.
+rubber_ball,ridges,medium,rubber,"A series of raised curved rubber ridges that wrap around the spherical surface, forming deep grooves between adjacent sections."

metadata.csv

@@ -0,0 +1,1129 @@
+object,region,force_level,motion,interaction_num
+football,panels,1,sliding,0001
+football,panels,1,sliding,0002
+football,panels,1,sliding,0003
+football,panels,1,sliding,0004
+football,panels,1,sliding,0005
+football,panels,1,sliding,0006
+football,panels,1,rotation,0007
+football,panels,1,rotation,0008
+football,panels,1,rotation,0009
+football,panels,1,rotation,0010
+football,panels,1,rotation,0011
+football,panels,1,rotation,0012
+football,panels,2,sliding,0001
+football,panels,2,sliding,0002
+football,panels,2,sliding,0003
+football,panels,2,sliding,0004
+football,panels,2,sliding,0005
+football,panels,2,sliding,0006
+football,panels,2,rotation,0007
+football,panels,2,rotation,0008
+football,panels,2,rotation,0009
+football,panels,2,rotation,0010
+football,panels,2,rotation,0011
+football,panels,2,rotation,0012
+football,panels,3,sliding,0001
+football,panels,3,sliding,0002
+football,panels,3,sliding,0003
+football,panels,3,sliding,0004
+football,panels,3,sliding,0005
+football,panels,3,sliding,0006
+football,panels,3,rotation,0007
+football,panels,3,rotation,0008
+football,panels,3,rotation,0009
+football,panels,3,rotation,0010
+football,panels,3,rotation,0011
+football,panels,3,rotation,0012
+football,seams,1,sliding,0001
+football,seams,1,sliding,0002
+football,seams,1,sliding,0003
+football,seams,1,sliding,0004
+football,seams,1,sliding,0005
+football,seams,1,sliding,0006
+football,seams,1,rotation,0007
+football,seams,1,rotation,0008
+football,seams,1,rotation,0009
+football,seams,1,rotation,0010
+football,seams,1,rotation,0011
+football,seams,1,rotation,0012
+football,seams,2,sliding,0001
+football,seams,2,sliding,0002
+football,seams,2,sliding,0003
+football,seams,2,sliding,0004
+football,seams,2,sliding,0005
+football,seams,2,sliding,0006
+football,seams,2,rotation,0007
+football,seams,2,rotation,0008
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+table_knife,blade,3,sliding,0001
+table_knife,blade,3,rotation,0002
+table_knife,handle,1,sliding,0001
+table_knife,handle,1,rotation,0002
+table_knife,handle,2,sliding,0001
+table_knife,handle,2,rotation,0002
+table_knife,handle,3,sliding,0001
+table_knife,handle,3,rotation,0002
+tin_peas,base,1,sliding,0001
+tin_peas,base,1,rotation,0002
+tin_peas,base,2,sliding,0001
+tin_peas,base,2,rotation,0002
+tin_peas,base,3,sliding,0001
+tin_peas,base,3,rotation,0002
+tin_peas,body,1,sliding,0001
+tin_peas,body,1,rotation,0002
+tin_peas,body,2,sliding,0001
+tin_peas,body,2,rotation,0002
+tin_peas,body,3,sliding,0001
+tin_peas,body,3,rotation,0002
+tin_peas,lid,1,sliding,0001
+tin_peas,lid,1,rotation,0002
+tin_peas,lid,2,sliding,0001
+tin_peas,lid,2,rotation,0002
+tin_peas,lid,3,sliding,0001
+tin_peas,lid,3,rotation,0002