| # EventTouch Dataset |
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| ## 1. Overview |
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| The EventTouch dataset belongs to Haptic Sensing Lab at the School of Advanced Manufacturing and Robotics, Peking University. 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. |
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| The dataset can be used for: |
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| - tactile perception research; |
| - contact-force prediction; |
| - FEM simulation validation; |
| - comparison of simulated and real-world data; and |
| - tactile-sensor calibration. |
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| ## 2. Dataset Structure |
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| ```text |
| data/ |
| └── sensor/ |
| └── object/ |
| └── pose/ |
| └── press_depth/ |
| ├── fem_sensor.csv |
| ├── fem_node.csv |
| ├── real_sensor.csv |
| └── camera_frames/ |
| ``` |
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| 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. |
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| ## 3. File Descriptions |
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| ### `fem_sensor.csv` |
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| 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. |
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| ### `fem_node.csv` |
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| Contains the displacements and contact forces of the tactile sensor's surface nodes. |
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| ### `real_sensor.csv` |
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| Contains the raw and processed measurements from the physical sensor experiment. |
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| ### `camera_frames` |
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| A folder contains camera frames of vision_based tactile sensor. |
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| ## 4. Field Descriptions |
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| ### Sensor types |
| - `digit`: digit sensor; |
| - `s1`: sphere vision-based tactile sensor; |
| - `s2`: ellipsoid vision-based tactile sensor; |
| - `s3`: large area resister-based tactle sensor; |
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| ### Contact poses |
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| For spherical objects: |
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| - `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. |
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| For cylindrical objects: |
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| - `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. |
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| ### Material codes |
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| | Code | Material | |
| |---|---| |
| | `0010` | Ecoflex 00-10 | |
| | `0030` | Ecoflex 00-30 | |
| | `0050` | Ecoflex 00-50 | |
| | `15A` | Dragon Skin 15 | |
| | `PLA` | PLA | |
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| ### `fem_sensor.csv` |
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| | 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 | |
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| ### `fem_node.csv` |
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| | 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 | |
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| ### `real_sensor.csv` |
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| | 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 | |
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| ## 5. Notes |
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| 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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