Each folder named after the object contains the following structure:
Object name
Elastic modulus E
All raw data including the combined master files per grasp test: pickup_master.h5, reorient_master.h5, shake_master.h5, twist_master.h5
All datasets in the h5 files have the first dimension as equal to the number of tested grasps. For each entry (corresponding to each grasp), the following data is stored:
Pre-contact
pre_contact_stresses: Von Mises stress per tetrahedron, shape (num_tets,)
pre_contact_se: Total strain energy, shape (1,)
pre_contact_positions: Positions of mesh nodes, shape (num_nodes, 3)
Pre-pickup (once desired squeezing force is achieved)
edge_distances: [left edge_dist, right edge_dist]
num_gripper_contacts: [left num_contacts, right num_contacts]
perp_distances: [left perp_dist, right perp_dist]
pure_distances: [left pure_dist, right pure_dist]
gripper_distance_at_force: gripper_sep, shape (1,)
stresses_at_force: VM stress per tetrahedron, shape (num_tets,)
se_at_force: Total strain energy, shape (1,)
Post-pickup
positions_under_gravity: shape (num_nodes, 3)
stresses_under_gravity: shape (num_tets,)
se_under_gravity: shape (1,)
pickup_success: shape (1,)
Reorientation
reorientation_meshes: All mesh positions recorded during reorientation, shape (16, 4, num_nodes, 3). 16 corresponds to the number of vectors, 4 is the number of rotation angles achieved per vector, 3 is for the xyz positions per node.
reorientation_stresses: All mesh stresses recorded during reorientation, shape (16, 5, num_tets)
Linear acceleration
shake_fail_accs: Acceleration at failure (ie. contact lost) under acceleration along each vector, shape (16,)
Angular acceleration
twist_fail_accs: Acceleration at failure (ie. contact lost) under acceleration about each vector, shape (16,)
Misc.
timed_out: Flags whether experiment took too much time to complete, shape (1,)