WireFishing-M

This dataset, WireFishing-M, contains multimodal sensor data collected from a robotic cable insertion task using a Franka Emika Panda 7-DOF robotic manipulator, an Allegro Robot Hand, and a DIGIT tactile sensor. The task simulates the "wire fishing" operation, where flexible cables are inserted into a transparent L-shaped PVC pipe. Data collected includes high-resolution tactile images, synchronized RGB video from multiple views, robot joint states, end-effector poses, and force estimates. Seven different types of cables were used to capture a range of deformable object behaviors. Due to Mendeley’s file size limitations, we provide a subset of representative trials for each cable type in this repository. The full dataset is accessible via Dropbox at the following link: https://www.dropbox.com/scl/fo/0fi6vh4yx42rayw8q3g2b/ADai0G6wGWgbERmVV2MNZSo?rlkey=tww2m03qbenj1npr7czzryndy&st=5b4rgsdd&dl=0 File Naming Convention Cable_(number)_Human: Trials where the robot hand was manually guided by a human to insert the cable. These trials have a higher success rate and represent expert-like insertion behavior. Cable_(number)_Random: Trials where the robot performed insertions from randomized positions and orientations, leading to more variable success rates and diverse contact conditions. Each top-level folder contains subfolders named by the data collection date (e.g., 20241204). Within each date folder, multiple subfolders are named by trial number (e.g., trial_1, trial_2), but these numbers do not correspond to specific experimental conditions—they are simply used to organize the data and prevent excessive file counts in a single directory. Inside each trial folder, the following five folders are included: global_view/: Contains bottom-view RGB camera images (.jpg) captured from beneath the robot workspace. inner_view/: Contains side-view images (.jpg) of the pipe opening used to visually verify task success or failure. local_view/: Contains front-view RGB camera images (.jpg) showing the robot and cable during insertion. tactile_view/: Contains grayscale tactile images (.jpg) from the DIGIT sensor. Each image is vertically stacked to show three fingertips: index finger (top), thumb (middle), and middle finger (bottom). robot_data/: Contains a single .npy file with time-series robot data. The data array format is as follows: [0–2]: End-effector force (Fx, Fy, Fz) [3–5]: End-effector torque (Tx, Ty, Tz) [6–11]: End-effector pose (position x, y, z and quaternion x, y, z, w) [12–18]: Joint angles of the 7-DOF Franka Emika Panda robot [19]: Insertion success label (1 = success, 0 = failure)本数据集名为WireFishing-M，包含由Franka Emika Panda 7自由度机械臂（7-DOF robotic manipulator）、Allegro机械手（Allegro Robot Hand）及DIGIT触觉传感器（DIGIT tactile sensor）采集的机器人线缆插装任务多模态传感器数据。该任务模拟“线缆穿引”作业流程，即将柔性线缆插入透明L型聚氯乙烯（PVC）管中。本次采集的数据涵盖高分辨率触觉图像、多视角同步RGB视频、机器人关节状态（robot joint states）、末端执行器位姿（end-effector poses）以及力估计值（force estimates）。实验共使用7种不同线缆，以覆盖柔性变形体的多样行为特性。 受限于Mendeley的文件大小限制，本仓库仅提供每种线缆类型的代表性试验子集。完整数据集可通过Dropbox的以下链接获取： https://www.dropbox.com/scl/fo/0fi6vh4yx42rayw8q3g2b/ADai0G6wGWgbERmVV2MNZSo?rlkey=tww2m03qbenj1npr7czzryndy&st=5b4rgsdd&dl=0 文件命名规范如下： Cable_(number)_Human：由人工手动引导机械臂完成线缆插装的试验，此类试验成功率更高，呈现类专家级的插装行为。 Cable_(number)_Random：机械臂从随机初始位姿开展插装的试验，成功率波动范围更大，接触条件更具多样性。 数据集的顶层文件夹以数据采集日期命名（例如20241204）。每个日期文件夹下包含若干以试验编号命名的子文件夹（例如trial_1、trial_2），此类编号仅用于数据组织以避免单个目录下文件过多，并不对应特定实验条件。 每个试验文件夹内包含5个子文件夹： global_view/：存储从机器人工作区下方采集的俯视RGB相机图像（格式为.jpg）。 inner_view/：存储用于视觉验证插装任务成败的管道开口侧视图像（格式为.jpg）。 local_view/：存储插装过程中机器人与线缆的前视RGB相机图像（格式为.jpg）。 tactile_view/：存储DIGIT触觉传感器采集的灰度触觉图像（格式为.jpg），每张图像采用垂直堆叠布局，依次显示食指（顶部）、拇指（中部）与中指（底部）三个指尖的触觉数据。 robot_data/：包含单个.npy格式的时序机器人数据文件，数据数组格式说明如下： [0–2]：末端执行器受力（Fx、Fy、Fz） [3–5]：末端执行器力矩（Tx、Ty、Tz） [6–11]：末端执行器位姿（位置x、y、z与四元数x、y、z、w） [12–18]：Franka Emika Panda 7自由度机械臂的关节角度 [19]：插装成功标签（1代表插装成功，0代表插装失败）