melly777/elephant

DM-Tac Real Raw Recordings

This repository contains the policy-allow-listed raw acquisition sessions used by the DM-Tac 13-class real-data benchmark. It contains 166 sessions and about 103.5 GiB of source evidence.

Contents

Each session retains:

• left_M26190152.h5: left DM-Tac, serial M26190152;
• right_M26190135.h5: right DM-Tac, serial M26190135;
• depth_D435i.json: RealSense session metadata and intrinsics;
• depth_D435i_color.mp4 and depth_D435i_depth.mp4;
• depth_D435i_touch_triplets.npz: extracted touch-aligned depth evidence;
• acquisition logs.

The original tactile files predate the finger_revision attribute. Their assignment to old_finger is authorized only through the explicit session allow-list in metadata/provenance/REAL_DATA_ACQUISITION_POLICY.json.

Provenance requirements

• Cube and cylinder were acquired on 2026-08-10 with the historical pre-move calibration aruco_20260810_145431/calibration_result.json.
• The other eleven allow-listed classes use the post-move calibration aruco_20260814_110940/calibration_result.json.
• The known approximately 16 mm / 3.8 degree cube/cylinder camera-to-ID12 difference is a batch-level frame discontinuity, not a per-touch rejection criterion.
• A coordinate-frame correction must be applied consistently to sensor poses, RGB-D points, and object pseudo-GT.
• Printed CAD is geometry GT. Any object_pose_base derived by RGB-D/CAD fitting is PSEUDO-GT, not independently measured pose GT.

Read every file under metadata/provenance/ before processing, exporting, cleaning, training on, or evaluating these recordings.

Exclusions

The upload intentionally excludes nine locally retained sessions that are not members of the authoritative production allow-list, including 40 mm test objects, two cuboid moving sessions, the bread session, and the quarantined all_20260810_161727——WRONG? cylinder recording.

Reproducible color_frames_gray.npz caches are not included; the retained colour MP4 files are their source. The continuous RealSense DB3 files for most historical production sessions had already been deleted after touch-depth and pose-coverage checks, so the surviving touch triplets must be preserved.

License and access

The repository owner selected CC BY 4.0 for this dataset. Any separately sourced CAD assets must only be added when their redistribution terms are compatible; CAD files are not part of this raw-recording upload.