# 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** - Dataset name: `taf-tactile-force` - Dataset source: [https://huggingface.co/datasets/Voxel51/TaF-Tactile-Force](https://huggingface.co/datasets/Voxel51/TaF-Tactile-Force) - Dataset size: 41.65 GB - Dataset license: MIT - Tags: `multimodal, mcap, tactile, force-torque, manipulation` - Supported splits: `N/A` - ZooDataset class: [`TaFTactileForceDataset`](../../api/fiftyone.zoo.datasets.base.md#fiftyone.zoo.datasets.base.TaFTactileForceDataset) **Example usage** Python CLI ```python import fiftyone as fo import fiftyone.zoo as foz dataset = foz.load_zoo_dataset("taf-tactile-force") # The firmest contacts view = dataset.match({"peak_force": {"$gt": 50}}) session = fo.launch_app(dataset, view=view) ``` ```shell fiftyone zoo datasets load taf-tactile-force fiftyone app launch taf-tactile-force ```