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# Dataset
Dataset of Human Human Handovers
A total of 13 participant pairs (26 participants involved). For each pair, they were assigned participant 1 and participant 2. The baton was transferred to and fro between them. The baton has 2 6D Force/Torque sensors on sides for recording the grip forces and one sensor in between for interaction force. The particpants wear motion capture suits (MoCap) and the experiment occured in a MoCap room. The upeer body movement and the baton pose is tracked.
An anonymized link to the dataset: https://anonymous.4open.science/r/dataset-H2H
The Experimentation done in sets of approximately 9 minutes each. We had three experimental settings:
1. Setting1- Normal baton transfer - 0.8 kg baton , Set 1 and Set 2
2. Setting2- Heavy baton transfer - 1.8 kg baton , Set 3 and Set 4
3. Setting3- Giver vision impairment with normal baton - 0.8 kg, Set 5 and Set 6
The data set is provided for each participant pair for each settting and corresponding set. Example: Pair1/Setting1/Set1
**Order** of sets in experimentation for:
**Pair 1 : Set1 Set3 Set5 Set2 Set4 Set6**
**Pair 2 : Set1 Set5 Set2 Set3 Set6 Set4**
Each Set data has 2 zipped folders: 'handovers' and 'handovers_reverse'. The 'handovers' folder contains all recorded and segmented handovers as separate folders when participant 1 acts as giver and passed the baton to participant 2, who acted as taker. The 'handovers_reverse' contains all handovers when participant 2 acted as giver and participant 1 as taker. This is done for purely analytical purposes.
Each handover folder has 30 .csv files, with 801 rows implying the saved duration (@120 Hz = 6.675 seconds) of the handover representing:
1. Wrench Taker - Fx,Fy,Fz,Tx,Ty,Tz (6 columns with title/header in first row)
2. Wrench Giver - Fx,Fy,Fz,Tx,Ty,Tz
3. Wrench Interaction- Fx,Fy,Fz,Tx,Ty,Tz
4. Baton pose - x,y,z,q0,q1,q2,q3 (7 columns with title/header in first row)
5. 5-17. Giver upper body skeletal representation- pose of 13 individual frames
6. 18-30 Taker upper body skeletal representation- pose of 13 individual frames
Above can be seen in the handover_Sample folder provided which has data of a random handover.
Please note the transformation in forces done for the interaction sensor for the reverse_handvoers case, based on observed data from sensor:
1. Fx = -1*Fx_int_measured
2. Fy = -1*Fy_int_measured
3. Fz = Fz_int_measured
The F/T HEX sensors from Onrobots : https://onrobot.com/en/products/hex-6-axis-force-torque-sensor
Datasheet: https://onrobot.com/sites/default/files/documents/Datasheet_HEX_QC_v1.3_EN.pdf
The MoCap setup from Motive: https://optitrack.com/
The setup used:
Software- MOTIVE 3.0
Cameras-
8x PrimeX13 Cameras (along the sides of the room)
4x PrimeX13W Wide-angle Cameras (in the corners of the room)