TaF Tactile-Force#

Contact-rich probing runs pairing tactile sensing with measured force, as native .mcap episodes.

Every frame carries what a tactile sensor sees and what a force sensor measures at the same instant: a vision-based tactile image, a 12x12 piezoelectric pressure map locating the contact, and a six-axis wrench from an ATI sensor. Contacts reach 90.8 N and 1.58 Nm.

3,594 episodes across 408 sequences, 10,057,742 frames, 93.1 hours. Six sensor configurations are represented, spanning the GelSight Mini with and without markers and a custom sensor with several marker grids.

Details

Example usage

1import fiftyone as fo
2import fiftyone.zoo as foz
3
4dataset = foz.load_zoo_dataset("taf-tactile-force")
5
6# The firmest contacts
7view = dataset.match({"peak_force": {"$gt": 50}})
8
9session = fo.launch_app(dataset, view=view)
taf-tactile-force