| --- |
| license: cc-by-4.0 |
| tags: |
| - multimodal |
| - tactile-sensing |
| - vision |
| - TouchTronix |
| - Robotics |
| - FusionX |
| pretty_name: FusionX Multimodal Sample Data V2 |
| --- |
| |
| # FusionX Multimodal Sample Dataset |
|
|
| This repository contains a multimodal dataset capturing synchronized vision and tactile glove data across distinct tasks. |
|
|
| ## Dataset Overview |
|
|
| * **RGB Video:** 30 Hz 720p color stream (`.mp4`). |
| * **Depth Data:** Lossless 16-bit depth stream (`.mkv`) and raw 16-bit PNG frames. |
| * **Mono Vision:** Left and right monochrome camera views (raw PNG). |
| * **Tactile Data:** Per-frame aligned glove sensor data stored in high-performance `.parquet` format. |
| * **Calibration:** Intrinsic and extrinsic parameters provided in `.json`. |
|
|
| ### Coordinate Systems & Alignment |
| To facilitate ease of use for 3D reconstruction and multimodal learning, the data alignment is defined as follows: |
|
|
| * **RGB & Depth:** The Depth stream is **software-aligned** to the RGB camera coordinate frame. A pixel at (u, v) in the depth map corresponds directly to the pixel (u, v) in the RGB frame. |
| * **Monochrome Stereo:** The Left and Right monochrome cameras operate in their **own independent coordinate frames**. |
| * **Resolution Note:** While RGB/Depth are 720p, the Monochrome streams are captured at 640x400 resolution. |
|
|
|
|
| --- |
|
|
| ## Repository Structure |
|
|
| The dataset is organized by task. To optimize performance, raw image frames are compressed into modality-specific ZIP archives. |
|
|
| ```text |
| dataset/ |
| ├── dataset_info.json # Global dataset metadata |
| ├── [task_name]/ # e.g., box_cut1, drill1, waterpour3 |
| │ ├── depth.mkv # Post-processed depth video |
| │ ├── rgb.mp4 # Post-processed RGB video |
| │ ├── preview_all.mp4 # Synced visualization (Grid view) |
| │ ├── preview_glove.mp4 # Tactile data visualization |
| │ ├── frames.parquet # Main data index (Timestamps + Tactile) |
| │ ├── calib.json # Calibration matrices |
| │ ├── video_meta.json # Post-processed video specifications |
| │ ├── depth.zip # Raw 16-bit PNG frames |
| │ ├── mono_left.zip # Raw mono-left PNG frames |
| │ ├── mono_right.zip # Raw mono-right PNG frames |
| │ └── rgb.zip # Raw RGB JPG frames |
| ``` |
|
|
| ## Tactile Data Schema (`frames.parquet`) |
|
|
| The `frames.parquet` file is the central index for the dataset, providing per-frame synchronization between vision and tactile sensors. |
|
|
| ### 1. Vision & Synchronization |
| | Column | Description | |
| | :--- | :--- | |
| | `frame_idx` | Integer index of the frame. | |
| | `timestamp` | Global synchronized UNIX timestamp. | |
| | `rgb_path`, `depth_path` | Relative paths to the original RGB and Depth images. | |
| | `mono_left_path`, `mono_right_path` | Relative paths to the monochrome stereo images. | |
|
|
| ### 2. Camera IMU (OAK-D) |
| | Column | Description | |
| | :--- | :--- | |
| | `oak_imu_quaternion` | 4-element orientation vector (W, X, Y, Z). | |
| | `oak_imu_gyro` | Angular velocity (rad/s) for X, Y, Z axes. | |
| | `oak_imu_accel` | Linear acceleration (m/s²) for X, Y, Z axes. | |
|
|
| ### 3. Tactile Glove Data (Left Hand: `lh_`, Right Hand: `rh_`) |
| Each hand contains independent timestamping and comprehensive pressure/bend sensing: |
|
|
| | Feature | Columns | |
| | :--- | :--- | |
| | **Glove Timing** | `_glove_timestamp`, `_glove_dt_ms` | |
| | **Raw Pressure** | `_thumb_pressure`, `_index_pressure`, `_middle_pressure`, `_ring_pressure`, `_little_pressure`, `_palm_pressure` | |
| | **Calibrated Pressure** | `_thumb_pressure_cal`, `_index_pressure_cal`, `_middle_pressure_cal`, `_ring_pressure_cal`, `_little_pressure_cal`, `_palm_pressure_cal` | |
| | **Finger Kinematics** | `_finger_bend` (Raw), `_finger_bend_cal` (Calibrated) | |
| | **Glove IMU** | `_imu_quaternion`, `_imu_gyro`, `_imu_accel` | |
|
|
| --- |
|
|
| ## How to Use |
|
|
| ### 1. Download the Dataset |
| You can clone this repository using Git LFS or use the `huggingface_hub` library: |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| |
| # Download the specific task you need |
| snapshot_download( |
| repo_id="touchtronix/FusionX-Multimodal-Sample-Data-V2", |
| repo_type="dataset", |
| allow_patterns="box_cut1/*" |
| ) |
| ``` |
| ### 2. Accessing Raw Frames |
| If you require the original image files instead of the video streams, extract the modality zips within the task folder: |
|
|
| ```bash |
| unzip box_cut1/rgb.zip -d box_cut1/rgb/ |
| ``` |
| --- |
|
|
| ## License |
|
|
| **Creative Commons Attribution 4.0 (CC BY 4.0)** You are free to: |
| * **Use:** Incorporate the data into your own projects. |
| * **Share:** Copy and redistribute the material in any medium or format. |
| * **Modify:** Remix, transform, and build upon the material. |
| * **Commercial Use:** Use the data for commercial purposes. |
|
|
| *As long as appropriate attribution is provided to **Touchtronix Robotics**.* |
