metadata
extra_gated_prompt: You need to agree to share your contact information to access this dataset.
extra_gated_fields:
Company/Organization: text
Country: country
license: mit
ToucHD - Large-Scale Tactile Hierarchical Dynamic Dataset
This repository stores the Force 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 (Force): We collect 722,436 touch–force pairs using five carefully selected tactile sensors and 71 distinct indenters. Under programmatic control, each indenter performs sliding motions in four directions—forward, backward, left, and right—across the sensor surface, while a wrist-mounted force sensor records 3D contact force sequences.
Download and Pre-process
To download the dataset:
huggingface-cli download --repo-type dataset xxuan01/BAAI/ToucHD-Force --local-dir datasets
To unpack the dataset which has been split into many .zip files:
cd datasets/ToucHD-Force
for f in *.zip; do
unzip "$f" -d "${f%.zip}"
done