Tactile-Based Robotic Peg Extraction Dataset

The data is organized into folders representing each object runs: Data/ └RL/ │ └Object<1|2|3|> │ └recordstep_<timestr>_object<1|2|3>_pretained_<ID>.csv └Teleop/ ├csv2dataframe.py ├README.md └──csv/ └Object<1|2|3|>/ └robot_O<1|2|3>_T<n>_A<0|45|90|135|180>_<timestr>/ ├imu1_data_raw.csv ├imu1_mag.csv ├imu2_data_raw.csv ├imu2_mag.csv ├imu_data1.csv ├imu_data2.csv ├joint_states.csv ├m_baros_serial1.csv ├m_baros_serial2.csv ├pressure_viz_left.csv ├pressure_viz_right.csv ├raw_barometers_teensy1.csv ├raw_barometers_teensy2.csv ├raw_imu_teensy1.csv ├raw_imu_teensy2.csv ├robot_instruction.csv ├tf.csv └tf_static.csv - csv2dataframe.py: Converts the data into dataframes - Object<1|2|3|>/: Three folders with data from each object - recordstep_<timestr>_object<1|2|3>_pretained_<ID>: Files with RL data for each object. - robot_O<1|2|3>_T<n>_A<0|45|90|135|180>_<timestr>/: Data dollected from each object at different angles.

[1] T. E. Alves de Oliveira, A. -M. Cretu and E. M. Petriu, "Multimodal Bio-Inspired Tactile Sensing Module," in IEEE Sensors Journal, vol. 17, no. 11, pp. 3231-3243, 1 June1, 2017, doi.org/10.1109/JSEN.2017.2690898. [2] T. E. Alves de Oliveira, V. Prado da Fonseca, BioIn-Tacto: A compliant multi-modal tactile sensing module for robotic tasks, HardwareX, Volume 16, 2023, e00478, ISSN 2468-0672, doi.org/10.1016/j.ohx.2023.e00478.