add pictures and enhance readme

README.md

@@ -47,3 +47,31 @@ dataset_info:
     - name: slip
       dtype: bool
 ---
+
+
+# Slip Detection Dataset
+
+A Reachy 2's gripper has been equipped with an [Anyskin](https://any-skin.github.io/) 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](pictures/)).
+
+![setup1](docs/setup_1.jpg) ![setup2](docs/setup_2.jpg) ![setup3](docs/setup_3.jpg)
+
+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.
+
+![rerun](docs/rerun.gif)
+
+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