ToucHD
Collection
Tactile Hierarchical Dynamic Dataset • 3 items • Updated
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ToucHD - Large-Scale Tactile Hierarchical Dynamic Dataset
This repository stores the Simulation Data subset of the ToucHD dataset.
Paper Code🏠 Project Page: https://gewu-lab.github.io/AnyTouch2/
Introduction
ToucHD is a large-scale tactile dataset with 2,426,174 contact samples designed as a Tactile Hierarchical Dynamic resource to enrich higher-tier dynamic tactile data.
ToucHD (Sim): We collect 1,118,896 multi-sensor contact frames from five optical tactile sensors performing 6 atomic actions—sliding left/right/up/down and rotating clockwise/counterclockwise on 1,043 3D objects. The 3D objects come from ObjectFolder and OmniObject3D.
Download and Pre-process
To download the dataset:
huggingface-cli download --repo-type dataset xxuan01/BAAI/ToucHD-Sim --local-dir datasets
To unpack the dataset which has been split into many .zip files:
cd datasets/ToucHD-Sim
zip -s 0 sim_obj.zip --out sim_obj_full.zip
unzip sim_obj_full.zip
rm -rf sim_obj_full.zip
zip -s 0 sim_omni.zip --out sim_omni_full.zip
unzip sim_omni_full.zip
rm -rf sim_omni_full.zip
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