---
license: apache-2.0
task_categories:
- tabular-classification
tags:
- tactile
- anyskin
- robotics
annotations_creators:
- expert-generated
size_categories:
- n<1K
dataset_info:
  features:
    - name: log_time
      dtype: string
    - name: mag1_x
      dtype: float32
    - name: mag1_y
      dtype: float32
    - name: mag1_z
      dtype: float32
    - name: mag2_x
      dtype: float32
    - name: mag2_y
      dtype: float32
    - name: mag2_z
      dtype: float32
    - name: mag3_x
      dtype: float32
    - name: mag3_y
      dtype: float32
    - name: mag3_z
      dtype: float32
    - name: mag4_x
      dtype: float32
    - name: mag4_y
      dtype: float32
    - name: mag4_z
      dtype: float32
    - name: mag5_x
      dtype: float32
    - name: mag5_y
      dtype: float32
    - name: mag5_z
      dtype: float32
    - 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` folder).

![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