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README.md
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@@ -38,8 +38,8 @@ gelsight_youngs_modulus_dataset
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└── grasp={grasp_number}
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└── augmentation={grasp_number}
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├── RGB.pkl
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├── RGB_markers.pkl
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├── depth.pkl
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├── depth_markers.pkl
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├── forces.pkl
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├── widths.pkl
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@@ -50,23 +50,23 @@ gelsight_youngs_modulus_dataset
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In the OBJECT_NAME folder, metadata for each object is provided in a .json file, including the object's shape, material, Young's modulus, and Shore hardness.
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```
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metadata = {
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'object_name':
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'youngs_modulus':
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'material':
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'shape':
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'shore_00_hardness':
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'shore_A_hardness':
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'shore_D_hardness':
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'used_in_training':
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}
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```
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In the AUGMENTATION_NUMBER folder, data is provided in .pkl files. You will find the following named conventions...
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- Tactile RGB images (without markers):
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- Tactile depth images (without markers):
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- Tactile RGB images (with markers):
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- Tactile depth images (with markers):
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- Sampled grasping contact forces:
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- Sampled gripper widths:
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- Elastic analytical model estimate:
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- Hertzian analytical model estimate:
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└── grasp={grasp_number}
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└── augmentation={grasp_number}
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├── RGB.pkl
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├── depth.pkl
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├── RGB_markers.pkl
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├── depth_markers.pkl
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├── forces.pkl
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├── widths.pkl
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In the OBJECT_NAME folder, metadata for each object is provided in a .json file, including the object's shape, material, Young's modulus, and Shore hardness.
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```
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metadata = {
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'object_name': {object_name}, # [str]
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'youngs_modulus': 0.0, # [Pa]
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'material': '', # [str]
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'shape': '', # [str]
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'shore_00_hardness': None, # [/]
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'shore_A_hardness': None, # [/]
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'shore_D_hardness': None, # [/]
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'used_in_training': True # [bool]
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}
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```
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In the AUGMENTATION_NUMBER folder, data is provided in .pkl files. You will find the following named conventions...
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- Tactile RGB images (without markers): `RGB.pkl`
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- Tactile depth images (without markers): `depth.pkl`
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- Tactile RGB images (with markers): `RGB_markers.pkl`
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- Tactile depth images (with markers): `depth_markers.pkl`
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- Sampled grasping contact forces: `forces.pkl`
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- Sampled gripper widths: `widths.pkl`
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- Elastic analytical model estimate: `elastic_estimate.pkl`
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- Hertzian analytical model estimate: `hertz_estimate.pkl`
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