| # EventTouch Part2 |
|
|
| ## 1. Overview |
|
|
| EventTouch Part2 contains synchronized time-series data from real-robot tactile experiments and finite element method (FEM/IPC) simulations. It covers objects with different shapes, materials, and sizes and is organized into four task families: |
|
|
| - `Fixed`: pressing, lifting, and slipping at a fixed contact position; |
| - `Free`: picking and insertion at different gripper widths; |
| - `Obstacle_avoidance`: obstacle-avoidance experiments at different contact positions and depths; |
| - `Integrated_tasks`: multi-stage experiments involving a paired ball and cylinder. |
|
|
| Depending on the task, the data include robot end-effector poses, gripper states, force/torque or tactile-channel measurements, simulated motion, FEM node displacements, and nodal contact forces. Vision-based tactile branches also provide camera images associated with the CSV records. |
|
|
| Dataset page: <https://huggingface.co/datasets/BAAI/EventTouch> |
|
|
| ## 2. Top-Level Structure |
|
|
| ```text |
| Part2/ |
| ├── Fixed/ |
| │ ├── digit/ |
| │ ├── s1/ |
| │ └── s2/ |
| ├── Free/ |
| │ ├── digit/ # Repository name; this branch represents DIGIT |
| │ ├── s1/ |
| │ └── s2/ |
| ├── Integrated_tasks/ |
| └── Obstacle_avoidance/ |
| ``` |
|
|
| Sensor identifiers: |
|
|
| | Identifier | Description | |
| |---|---| |
| | `digit` | DIGIT vision-based tactile sensor | |
| | `s1` | Spherical vision-based tactile sensor | |
| | `s2` | Ellipsoidal vision-based tactile sensor | |
| | `s3` | Large-area resistive tactile sensor with 12 raw channels | |
|
|
|
|
| ## 3. Object Naming |
|
|
| Object directories follow this convention: |
|
|
| ```text |
| <shape>_<material>_<size> |
| ``` |
|
|
| Examples: |
|
|
| ```text |
| ball_0010_10 |
| cylinder_PLA_17.5 |
| ``` |
|
|
| ### 3.1 Shapes |
|
|
| - `ball`: spherical contact object; |
| - `cylinder`: cylindrical contact object. |
|
|
| ### 3.2 Materials |
|
|
| | Code | Material | |
| |---|---| |
| | `0010` | Ecoflex 00-10 | |
| | `0030` | Ecoflex 00-30 | |
| | `0050` | Ecoflex 00-50 | |
| | `15A` | Dragon Skin 15 | |
| | `PLA` | PLA | |
|
|
| ### 3.3 Sizes |
|
|
| The size codes are `10`, `12.5`, `15`, `17.5`, and `20`. They represent the nominal object radius in millimeters. |
|
|
| A complete single-object branch in `Fixed`, `Free`, or `Obstacle_avoidance` contains `2 × 5 × 5 = 50` shape-material-size combinations. `Integrated_tasks` instead uses selected pairs of complete object identifiers. Because the repository may continue to receive updates, check the relevant online directory for the combinations currently available. |
|
|
| ## 4. `Fixed`: Fixed-Position Contact |
|
|
| ### 4.1 Directory Structure |
|
|
| ```text |
| Fixed/ |
| └── <sensor>/ |
| └── <shape>_<material>_<size>/ |
| ├── press_depth_01/ |
| │ ├── up/ |
| │ │ ├── camera_frames_60hz.tar |
| │ │ ├── fem_node.csv |
| │ │ ├── franka_data.csv |
| │ │ ├── multimodal_aligned_data.csv |
| │ │ ├── real_sim_motion_alignment.csv |
| │ │ └── simulation_data.csv |
| │ └── down/ |
| │ └── ... |
| ├── press_depth_02/ |
| └── ... |
| ``` |
|
|
| Each object condition contains up to ten press-depth settings, from `press_depth_01` to `press_depth_10`. Every depth is divided into two motion stages: |
|
|
| - `up`: lifting or upward motion; |
| - `down`: pressing, downward motion, or slipping. |
|
|
| The current `Fixed` data are aligned in the displacement domain. Sixty positions are selected for each stage and reindexed from `0` to `59`. The files `simulation_data.csv`, `real_sim_motion_alignment.csv`, `franka_data.csv`, and `multimodal_aligned_data.csv` contain one row per aligned frame. `fem_node.csv` contains multiple node records per frame, so it should have 60 unique frames rather than 60 rows. |
|
|
| ### 4.2 File Descriptions |
|
|
| #### `franka_data.csv` |
| |
| Real-robot task and control-cycle data, including: |
| |
| - ROS, robot, and sensor timestamps; |
| - task state and cycle index; |
| - commanded and measured gripper widths; |
| - actual and commanded Franka end-effector positions and quaternion orientations; |
| - processed, raw, and online-baseline XJC force/torque measurements; |
| - Franka-estimated six-axis end-effector force/torque; |
| - directional forces, force reference, detachment detection, and commanded Z-axis velocity and acceleration. |
| |
| #### `multimodal_aligned_data.csv` |
| |
| The main camera-centered, real-world multimodal alignment table, including: |
| |
| - camera sequence number, nanosecond timestamp, image path, and resolution; |
| - timestamp correspondences among the task, robot, XJC force sensor, and gripper; |
| - actual and commanded end-effector poses; |
| - XJC and Franka six-axis force/torque values; |
| - position, velocity, measured effort, and external torque for the seven arm joints; |
| - position, velocity, effort, and total width for the two gripper fingers. |
| |
| #### `simulation_data.csv` |
|
|
| Frame-level simulated force/torque curves with the following fields: |
|
|
| ```text |
| frame, time_s, phase, command_travel_m, |
| Fx_N, Fy_N, Fz_N, Mx_Nm, My_Nm, Mz_Nm, |
| delta_Fx_N, delta_Fy_N, delta_Fz_N, |
| delta_Mx_Nm, delta_My_Nm, delta_Mz_Nm, |
| delta_force_norm_N, delta_moment_norm_Nm |
| ``` |
|
|
| #### `real_sim_motion_alignment.csv` |
| |
| A real-to-simulation motion mapping table containing: |
| |
| - `frame`, `time_s`, `phase`, and `camera_time_ns`; |
| - relative displacement and absolute coordinates of the real end effector; |
| - relative displacement and absolute coordinates of the Isaac TCP; |
| - relative displacement and absolute coordinates of the IPC contact-region midpoint. |
|
|
| #### `fem_node.csv` |
| |
| Surface-node data from the FEM simulation: |
| |
| | Field | Description | Unit | |
| |---|---|---| |
| | `frame` / `aligned_frame` | Frame index | — | |
| | `time_s` / `aligned_time_s` | Simulation or aligned time | s | |
| | `node_id` | Node identifier | — | |
| | `x_m`, `y_m`, `z_m` | Node coordinates | m | |
| | `ux_m`, `uy_m`, `uz_m` | Node displacements | m | |
| | `fx_N`, `fy_N`, `fz_N` | Nodal contact forces | N | |
|
|
| #### `camera_frames_60hz.tar` |
|
|
| An archive containing the image directory referenced by `camera_image_path` in the CSV files. Extract it with: |
|
|
| ```bash |
| tar -xf camera_frames_60hz.tar |
| ``` |
|
|
| The `60hz` suffix is retained from the aligned export naming convention. For time synchronization, use the frame indices and nanosecond timestamps stored in the CSV files. |
|
|
| ## 5. `Free`: Free Picking and Insertion |
|
|
| ### 5.1 Directory Structure |
|
|
| ```text |
| Free/ |
| └── <sensor>/ |
| └── <shape>_<material>_<size>/ |
| ├── width_01/ |
| │ ├── insert/ |
| │ │ ├── camera_frames_60hz.tar |
| │ │ ├── fem_node.csv |
| │ │ ├── franka_data.csv |
| │ │ └── simulation_data.csv |
| │ └── pick/ |
| │ └── ... |
| ├── width_02/ |
| └── ... |
| ``` |
|
|
| Each object condition contains ten gripper-width settings, from `width_01` to `width_10`. The measured width is recorded in `franka_data.csv` as `measured_gripper_width_m`; do not infer a physical width solely from the directory index. |
|
|
| - `pick`: lifting or picking the object; |
| - `insert`: lateral motion, insertion, holding, return, and final insertion. |
|
|
| `Free` sequences have variable lengths and should not be assumed to contain 60 frames. The three CSV files are aligned through `aligned_frame`, `aligned_time_s`, and their phase fields. |
|
|
| ### 5.2 File Descriptions |
|
|
| #### `franka_data.csv` |
| |
| An aligned real-robot table with 13 fields: |
| |
| ```text |
| aligned_frame, aligned_time_s, alignment_phase, task_ros_time_ns, |
| camera_image_path, |
| robot_ee_x_m, robot_ee_y_m, robot_ee_z_m, |
| robot_ee_qx, robot_ee_qy, robot_ee_qz, robot_ee_qw, |
| measured_gripper_width_m |
| ``` |
| |
| #### `simulation_data.csv` |
| |
| An aligned simulation-motion table with seven fields: |
| |
| ```text |
| aligned_frame, aligned_time_s, alignment_phase, |
| gripper_y_m, gripper_z_m, |
| ipc_midpoint_y_m, ipc_midpoint_z_m |
| ``` |
| |
| #### `fem_node.csv` |
| |
| Aligned node-level FEM data. In addition to the node coordinates, displacements, and contact forces described in Section 4.2, this file contains a `phase` column. |
| |
| #### Legacy `.bak` File in the DIGIT Branch |
| |
| Some action directories under `Free/digit` also contain: |
| |
| ```text |
| camera_franka_gripper_aligned_60hz.csv.bak |
| ``` |
| |
| This is a retained legacy or backup alignment table. Use the standardized `franka_data.csv` for normal analysis. Read the `.bak` file only when additional legacy columns are needed for traceability. |
| |
| ## 6. `Obstacle_avoidance`: Obstacle Avoidance |
| |
| ### 6.1 Directory Structure |
| |
| ```text |
| Obstacle_avoidance/ |
| └── <shape>_<material>_<size>/ |
| ├── position_01/ |
| │ ├── depth_01/ |
| │ │ ├── fem_node.csv |
| │ │ ├── franka_data.csv |
| │ │ └── simulation_data.csv |
| │ ├── depth_02/ |
| │ └── ... |
| ├── position_02/ |
| └── ... |
| ``` |
| |
| Each object condition contains 12 contact positions, from `position_01` to `position_12`. Every position contains five depths, from `depth_01` to `depth_05`. These directory names are discrete experimental-condition identifiers. Use the end-effector pose, Isaac/IPC coordinates, and phase fields in the CSV files for the physical trajectory. |
|
|
| ### 6.2 File Descriptions |
|
|
| #### `franka_data.csv` |
| |
| Real-world obstacle-avoidance data with 23 fields: |
| |
| ```text |
| aligned_frame, aligned_time_s, alignment_phase, |
| channel_01_raw, ..., channel_12_raw, |
| ee_x_m, ee_y_m, ee_z_m, |
| ee_qx, ee_qy, ee_qz, ee_qw, |
| unix_time_ns |
| ``` |
| |
| `channel_01_raw` through `channel_12_raw` are the 12 raw tactile channels. The `ee_*` fields describe the Franka end-effector pose. |
| |
| #### `simulation_data.csv` |
| |
| A simulated motion trajectory with nine fields: |
| |
| ```text |
| frame, time_s, phase, |
| isaac_x_m, isaac_y_m, isaac_z_m, |
| ipc_x_m, ipc_y_m, ipc_z_m |
| ``` |
| |
| #### `fem_node.csv` |
| |
| Frame- and node-level coordinates, displacements, and three-axis contact forces. Its fields follow the common `fem_node.csv` definition in Section 4.2. |
| |
| ## 7. `Integrated_tasks`: Integrated Multi-Stage Tasks |
| |
| ### 7.1 Directory Structure |
| |
| ```text |
| Integrated_tasks/ |
| └── <ball_object>_<cylinder_object>/ |
| ├── pose1/ |
| │ ├── width1/ |
| │ │ ├── camera_frames_60hz.tar |
| │ │ ├── fem_data.csv |
| │ │ ├── fem_node.csv |
| │ │ └── franka_s3_data.csv |
| │ ├── width2/ |
| │ └── ... |
| ├── pose2/ |
| └── ... |
| ``` |
| |
| Unlike the single-object directory names used by the other task families, an integrated-task directory concatenates two complete object identifiers. The first identifier describes the ball and the second describes the cylinder. Examples currently present in the repository include: |
| |
| ```text |
| ball_0010_20_cylinder_0010_20 |
| ball_0010_20_cylinder_0030_20 |
| ball_0010_20_cylinder_0050_17.5 |
| ball_0010_20_cylinder_15A_20 |
| ``` |
| |
| Each paired-object condition may contain up to five pose settings, `pose1` through `pose5`, and each pose may contain up to eight width settings, `width1` through `width8`. These are ordinal experimental-condition identifiers; note that they do not use the zero-padded naming convention found in `Free`. |
| |
| The integrated sequence combines gripper closing, lifting/probing, retreating, a smooth multi-pose motion, and gripper opening. Real-world phase labels include `CLOSE_GRIPPER`, `POSE1_TO_POSE2`, `POSE2_TO_POSE3`, `POSE3_TO_POSE4`, `SMOOTH_POSE4_TO_POSE8`, and `OPEN_AT_POSE8`. Simulation phases provide more detailed sub-stages such as calibrated delays, stable periods, and fault guards. |
| |
| Integrated-task sequences have variable lengths and should not be assumed to contain 60 frames. Align their files using `frame` and `time_s`. |
| |
| ### 7.2 File Descriptions |
| |
| #### `franka_s3_data.csv` |
| |
| A 24-field real-world table combining Franka motion, camera references, and S3 tactile readings: |
| |
| ```text |
| frame, time_s, camera_ros_time_ns, phase, image_relative_path, |
| ee_x_m, ee_y_m, ee_z_m, |
| ee_qx, ee_qy, ee_qz, ee_qw, |
| arduino_ch00_raw, ..., arduino_ch11_raw |
| ``` |
| |
| The `ee_*` fields describe the Franka end-effector pose. The twelve `arduino_ch*_raw` fields are raw tactile channels from the S3 sensor. `image_relative_path` identifies the corresponding frame in `camera_frames_60hz.tar`. |
|
|
| #### `fem_data.csv` |
| |
| A nine-field simulation-motion table: |
| |
| ```text |
| frame, time_s, phase, |
| isaac_x_m, isaac_y_m, isaac_z_m, |
| ipc_midpoint_x_m, ipc_midpoint_y_m, ipc_midpoint_z_m |
| ``` |
| |
| It records the Isaac reference position and IPC contact-region midpoint for every simulation frame. |
| |
| #### `fem_node.csv` |
|
|
| The integrated-task node table uses a **wide format**, unlike the long node format used by `Fixed`, `Free`, and `Obstacle_avoidance`. Each row represents one frame and starts with: |
|
|
| ```text |
| frame, time_s, alignment_displacement_progress |
| ``` |
|
|
| The remaining columns are grouped by node identifier. Every selected node contributes nine values: |
|
|
| ```text |
| node_<id>_x_m, node_<id>_y_m, node_<id>_z_m, |
| node_<id>_ux_m, node_<id>_uy_m, node_<id>_uz_m, |
| node_<id>_fx_N, node_<id>_fy_N, node_<id>_fz_N |
| ``` |
|
|
| Current files contain 2,010 columns: three frame-level fields followed by nine fields for each of 223 selected nodes. Node identifiers are encoded in the column names and are not necessarily contiguous. |
|
|
| #### `camera_frames_60hz.tar` |
|
|
| The camera archive contains the frames referenced by `image_relative_path` in `franka_s3_data.csv`. Extract it in the corresponding width directory before resolving image paths. |
|
|
| ## 8. Alignment and Unit Conventions |
|
|
| - `frame` and `aligned_frame` start at 0; |
| - fields ending in `*_time_s` are expressed in seconds; |
| - fields ending in `*_time_ns` are expressed in nanoseconds; |
| - position and displacement fields ending in `_m` are expressed in meters; |
| - force fields ending in `_N` are expressed in newtons; |
| - moment fields ending in `_Nm` are expressed in newton-meters; |
| - quaternions follow the `qx, qy, qz, qw` order; |
| - align tables within a sequence by frame index first, then use timestamps for validation; |
| - in the long-format `fem_node.csv` files used by `Fixed`, `Free`, and `Obstacle_avoidance`, use the frame index together with `node_id` as the node-record key; |
| - in the wide-format `Integrated_tasks/fem_node.csv`, each row is one frame and node identifiers are embedded in column names. |
|
|
|
|
|
|
