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README.md
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@@ -25,4 +25,20 @@ Dataset of tactile images collected over grasping common objects labelled with t
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Associated code is available [HERE](https://github.com/GelSight-lab/EstimateModulus/tree/main).
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Dataset Organization
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Associated code is available [HERE](https://github.com/GelSight-lab/EstimateModulus/tree/main).
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Dataset Organization
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Data is split into folder using the following structure...
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/OBJECT_NAME/GRASP_NUMBER/AUGMENTATION_NUMBER/___.pkl
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Each object is grasped a number of times, and each of these grasps is downsampled to 3 frames and shifted to create different data augmentations of the same grasp.
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In the OBJECT_NAME folder, metadata for each object is provided in a .json file, including the object's shape, material, and Young's Modulus.
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In the AUGMENTATION_NUMBER folder, data is provided in .pkl files. You will find the following named conventions...
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- Tactile RGB images (without markers): _diff.pkl
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- Tactile depth images (without markers): _depth.pkl
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- Tactile RGB images (with markers): _diff_markers.pkl
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- Tactile depth images (with markers): _depth_markers.pkl
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- Sampled grasping contact forces: _forces.pkl
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- Sampled gripper widths: _widths.pkl
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