Visualization of the data collection setup and data modalities. We use a Universal Robotics UR5e 6-DoF robot arm. An OnRobot Hex 6-Axis force/torque (F/T) sensor is attached to the end effector and records F/T measurements of the grasped objects. We use a high resolution visuo-tactile GelSight sensor. We use the Servo-electric 2-finger parallel gripper WSG50 from Weiss Robotics to attach these tactile sensors. We utilize two Azure Kinects and one RGB camera to visually capture the robot's workspace.
Robo-Touch/PoseIt
PoseIt a multi-modal dataset that contains visual tactile data for holding poses
CC0-1.0