# TouchEvent ## 1. Overview The TouchEvent dataset belongs to Haptic Sensing Lab at the School of Advanced Manufacturing and Robotics, Peking University. TouchEvent 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: ## 2. Top-Level Structure ```text TouchEvent/ ├── 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 __ ``` 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/ └── / └── __/ ├── 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/ └── / └── __/ ├── 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/ └── __/ ├── 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/ └── _/ ├── 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__x_m, node__y_m, node__z_m, node__ux_m, node__uy_m, node__uz_m, node__fx_N, node__fy_N, node__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.