---
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.