Supplementary Material - Learning efficient haptic shape exploration with a rigid tactile sensor array

**Recorded data set**<br />
The file "objects.hdf5" contains the recorded data that was used in the experiments of this work. It is composed of 201 x 201 data points for each of the four different objects, leading to ~161000 data points in total.
The code for generating the data set was written in ``python 2.7`` while the file itself was created using the [h5py](https://www.h5py.org/) package

**File structure**<br />
The file is built out of four containers with shapes (201, 201, 256):
```
objects.hdf5/
├── object_1/
| └── (201, 201, 256)
├── object_2/
| └── (201, 201, 256)
├── object_3/
| └── (201, 201, 256)
├── object_4/
| └── (201, 201, 256)
```
The data is provided as triples that are containing the information of the location *x* and orientation *phi* of the utilized tactile sensor, together with its corresponding flattened and normalized pressure vector *p*, i.e. (*x* ,*phi* ,*p*).

所记录的数据集包含本工作中实验所使用的记录数据。文件“objects.hdf5”由四个容器构成，每个容器包含201x201的数据点，针对四种不同的物体，总计约161000个数据点。生成该数据集的代码使用Python 2.7编写，而文件本身则是利用[h5py](https://www.h5py.org/)软件包创建的。

**文件结构**
文件由四个容器组成，每个容器的形状为(201, 201, 256)：

objects.hdf5/
├── object_1/
| └── (201, 201, 256)
├── object_2/
| └── (201, 201, 256)
├── object_3/
| └── (201, 201, 256)
├── object_4/
| └── (201, 201, 256)

数据以三元组的形式提供，包含用于触觉传感器的位置*x*、方位*phi*以及相应的展平并归一化的压力向量*p*，即(*x* ,*phi* ,*p*).