Datasets:
| 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. | |