pollen-robotics/anyskin_slip_detection

Slip Detection Dataset

A Reachy 2's gripper has been equipped with an Anyskin tactile sensor, composed of 5 magnetic sensors. This dataset aims to reproduce the slip detection task described in the paper.

Capture protocol

A list of 16 objects with various hardness levels has been selected (see pictures folder).

The gripper closure was manually triggered. Then the operator pulled the object without removing it from the gripper. Four forces were applied in different directions: up, down, left, and right. The gripper was opened between each force application, and the sensor was reset.

The data was recorded using the rerun software and then exported to a CSV file. The operator manually annotated the slip events. An additional capture with no slip events on various objects was recorded to provide only static contact examples.

Data format

Each row of the CSV file contains the following columns:

• log_time: the time of the capture
• mag1_x, mag1_y, mag1_z: the magnetic field values of the first sensor
• mag2_x, mag2_y, mag2_z: the magnetic field values of the second sensor
• mag3_x, mag3_y, mag3_z: the magnetic field values of the third sensor
• mag4_x, mag4_y, mag4_z: the magnetic field values of the fourth sensor
• mag5_x, mag5_y, mag5_z: the magnetic field values of the fifth sensor
• slip: a boolean indicating if a slip event occurred