Datasets:
metadata
license: other
task_categories:
- reinforcement-learning
tags:
- dexterous-manipulation
- tactile
- rgb
- isaac-gym
ShadowHandPen RGB + raw rigid-contact tactile trajectories
This dataset contains 5,000 successful ShadowHandPen PPO rollouts. Each
episode stores synchronized RGB frames, robot hand joint/object state in
trajectory_env0.npz, and dense EgoTouch-layout pressure in
pressure_grids.npz. The pressure grids are computed from pairwise rigid
contacts and Gaussian projection onto 217 valid taxels per hand.
The tar files preserve the original collection shards. Shard-level duplicate RGB frame folders and QA-only videos are intentionally omitted.