The videos are named as `SHAPE_HARDNESS_NUMBER.avi'
SHAPE: the shape of the samples, including
    `FLAT': Flat samples   
    `EDGE': Sharp edges
    `CORNER': sharp corners
    `SPHERE': samples of hemishperical shapes; the number after `SPHERE' related to the sample diamters. 1=5mm, 2=10mm, 3=15mm, 4=20mm, 5=29mm, 6=38mm, 7=50mm, 8=70mm, 9=100mm
    `CYLIND': samples of cylindrical shapes; note that in some cases the contact is not on the cylinder sides, but might be on the edges; the number after `SPHERE' related to the sample diamters. 1=5mm, 2=10mm, 3=15mm, 4=19mm, 5=25mm, 6=38mm, 7=50mm, 8=70mm, 9=100mm
    `BASIC': samples made from some natrual vessels with simple shapes, such as hemispherical spoons, cylindrical beakers, trapezoidal ice boxes.
    `CHOCO': samples made from assorted chocolate molds with complicated shapes.
HARDNESS: 2 digits that measures the hardness of the samples in Shore 00 scale. Rigid objects are noted as 99.
NUMBER: 6 random digits for data identity?repeatability exists)

Samples in the folder `NaturalObj' have no ground truth hardness.

Please contact Wenzhen Yuan (yuan_wz@csail.mit.edu) for any questions. 

11. 2016