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README.md

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+# 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.
+
+